8:00 – 11:00 SR

• Backups
• Group meeting
• Spent some time chasing down the duplicated bug. The decision is to truncate the contracts_cognos table before ingest. There is still a problem where multiple rows are not being summed even though they are claimed (where contract numbers are NULL)

11:00 – 4:00 FP

• Integrating all the pieces into one test platform. The test could be to move a collection of physically-based spheres (easy collision detect) from one area to another. Time would be recorded from the indication of a start and stop (spacebar, something in the sim, etc). Variations would be:
  • Open loop: Measure position and pressure, but no feedback
  • Force Feedback (Phantom) only
  • Vibrotactile feedback only
  • Both feedbacks
• Probably only use two actuators for the simplicity of the test rig. It would bean that I could use the laptop’s headphone output. Need to test this by wiring up the actuators to a micro stereo plug. Radio Shack tonight.
• Got two-way communication running between Phantom and sim.
• Have force magnitude adjusting a volume.
• Added a SimpleSphere class for most of the testing.