User Guide IS-900 SimTracker & VETracker with MicroTraxTM Devices 2007 InterSense, Inc. 36 Crosby Drive, Suite 150 Bedford, MA 01730 Phone +1 781 541 6330 • Fax +1 781 541 6329 www.intersense.com Doc. No. 072-00092-000B Rev. 2.
User Guide for the IS-900 SimTracker & VETracker Firmware 4.20 and higher DLL Version 3.75 and higher Contacting InterSense Please contact us if you need assistance. InterSense, Inc. 36 Crosby Drive Suite 150 Bedford, Massachusetts 01730 USA Telephone: Fax: Technical Support: Sales: +1 781 541 6330 +1 781 541 6329 +1 781 541 7624 +1 781 541 7618 email: Internet: email: email: info@intersense.com www.intersense.com techsupport@intersense.com sales@intersense.
Warnings and Precautionary Statements Any changes or modifications to the IS-900 SimTracker/VETracker, MicroTrax Tracking Devices and other components of the IS-900 System not expressly approved by InterSense will void the warranty and any regulatory compliance issued for the system. This could also void the user’s authority to operate the equipment. Wand and Head tracker microphones are susceptible to ESD and may require power cycling to recover from communication failure.
Warning: Fire, Explosion, and Severe Burn Hazard IS-900 User Guide Page 4 of 159
Equipment Design: • To avoid damage to the battery pack, make sure that the battery pack is positioned away from heat sources in the equipment. • If the battery pack is designed into other equipment, use caution to strictly avoid designing airtight battery compartments. When using the battery Misusing the battery may cause the battery to get hot, explode, or ignite and cause serious injury. Be sure to follow the safety rules listed below: v Do not place the battery in fire or heat the battery.
While charging the battery Follow the rules listed below while charging the battery. Failure to do so may cause the battery to become hot, explode, or ignite and cause serious injury. • When charging the battery only InterSense’s charging station (ISC900MW-CRA*) or individual device charger (099-00076-0000) Note: * means that the suffix is U, E or K depending on voltage requirements of your country. • Do not place the batteries in or near fire, or into direct sunlight.
Do not bend, twist, pull strongly or tamper in any way with any part of the IS-900 cabling. Take care to avoid electric shocks. Do not plug-in or unplug the power cable with wet hands. During normal operation, the user should not make contact with the metal surfaces, including the microphone housings and the connector hood, of the tracking stations. Such contact could result in invalid data or a tracker reset.
This device complies with FCC’s RF radiation exposure limits set forth for an uncontrolled environment. It should be installed and operated such that; a minimum separation distance of 20cm is maintained between the radiator (antenna) & user’s/nearby people’s body at all times. This device must not be co-located or operating in conjunction with any other antenna or transmitter. Comply with Part 15 of the FCC Rules. Operation is subject to the following two conditions: 3.
Table of Contents 1. System Description ............................................................................................................. 12 1.1. IS-900 Configuration..................................................................................................... 13 1.2. IS-900 SimTracker Components .................................................................................. 15 1.3. IS-900 VETracker Components............................................................................
9.1. Overview ....................................................................................................................... 87 9.2. Normal Operation (Steady State) ................................................................................. 88 9.3. Example of LCD Menu Navigation ............................................................................... 91 9.4. IS-900 LCD Menu Flow Chart....................................................................................... 92 10.
Table of Figures Figure 1 - IS-900 Functional Diagram ............................................................................................ 13 Figure 2 - IS-900 SimTracker Processor ....................................................................................... 17 Figure 3 - IS-900 VETracker Processor......................................................................................... 17 Figure 4 - IS-900 SoniStrips..........................................................................
1. System Description The IS-900 product family delivers precision motion tracking technology for simulators, training, virtual, and immersive display systems. The IS-900, designed for dedicated, precision 6 degree of freedom (6-DOF) motion tracking for both small tracking area simulators and large area virtual environments. This manual covers two IS-900 product configurations—the IS-900 SimTracker (Simulation Tracker) and the IS-900 VETracker (Virtual Environment Tracker).
TM In June 2007, we introduced the new MicroTrax wireless devices for the IS-900 System. These devices include a Head Tracker, Wand and a new Docking Station. The docking station is a new component in our offering that allows you to recharge your wireless devices and spare batteries in-situ via contacts while they rest in the cradle. The MicroTrax devices use a 2.4 GHz nonfrequency hopping spread spectrum radio module that allows up to 16 different channel selections. 1.1.
The IS-900 SimTracker and VETracker works with all of InterSense’s standard wired & wireless MicroTrax devices (Head Tracker and Wand) plus several specialized devices developed for OEM applications (Helmet Tracker, NVIS Virtual Binoculars & HMD, plus others). Note that some early versions of InterSense’s devices are not compatible with the SimTracker & VETracker components. Please check with InterSense Technical Support (techsupport@intersense.
1.2. IS-900 SimTracker Components The IS-900 SimTracker System ships in a standard configuration package with an IS-900 Processor, four SoniStrips, two MicroTrax Tracking Devices, the IS-900 Product CD (version 4.23 or higher), and all the required interface cables.
1.3. IS-900 VETracker Components The IS-900 VETracker System ships in a standard configuration package with an IS-900 Processor, six SoniStrips, two MicroTrax Tracking Devices, the IS-900 Product CD, and all the required interface cables.
1.4. IS-900 SimTracker & VETracker Processor The IS-900 Processor uses specialized firmware running on a dedicated processor to control motion sensor data acquisition and then calculate tracking and related data for output over serial or Ethernet interfaces. Shown in Figure 2, the SimTracker Processor has five front panel LEDs which indicate active ports during normal operation. Shown in Figure 3, the VETracker Processor has eight front panel LEDs to indicate active ports.
Figure 5 - IS-900 SoniWing Figure 6 - IS-900 SoniFrame with three 6 ft. SoniStrips Assembled and Mounted on a Ceiling Figure 7 - Discrete SoniDisc Transmitter (SoniPod) The IS-900 uses an acoustic time-of-flight (TOF) ranging system to prevent position and orientation drift. For maximum accuracy and resolution, acoustic range measurements are made with unidirectional TOF measurements from the SoniStrip transmitters to the Tracked Stations.
The SoniDiscs’ acoustic pulses are detected by miniature microphones integrated in the Tracked Stations. Details of the assembly and set up of the SoniFrame and SoniWing are found in a supplemental manual in your IS-900 product CD. 1.6. Acoustic Constellation Mounting Considerations The IS-900 product family offers a wide range of options to meet the needs of many different tracking environments. SoniStrips are normally mounted from the ceiling over the desired tracking workspace.
1.6.2. SoniPods The SoniPod is a discrete SoniDisc packaged in its own enclosure with mechanical and electrical interfaces. SoniPods provide the most flexible Constellation configuration option for closed spaces, cockpits, or spaces that do not offer simple mounting spaces for fixed frames or SoniStrips. Each SoniPod is connected by “daisy chain” to the next with one cable from the IS900 processor.
1.7.1. MicroTrax Wand with Joystick Figure 9 - MicroTrax Wand The MicroTrax Wand with center-click Joystick (Figure 9) is a tracked device that provides a simple and convenient way for the user to interact with virtual environments. There are four miniature acoustic receiver microphones integrated into the MicroTrax Wand. During operation, all four miniature microphones are sampling the ultrasonic signals.
1.7.2. MicroTrax Head Tracker Figure 10 - MicroTrax Head Tracker The MicroTrax Head Trackers (Figure 10) are tracked devices that provide accurate 6-DOF data needed to give the user a correct visual viewpoint in an immersive visual environment. The MicroTrax head tracker is suitable for use in both projected (Simulators, CAVE®s, PowerWalls, etc…) and head worn (HMDs) application where head tracking is required. The device powers on by pressing the button for ~ 3seconds.
1.7.3. MicroTrax Docking Station Figure 11 - MicroTrax Docking Station The MicroTrax Docking Station (Figure 11) is an optional component that serves to hold all the MicroTrax devices in one handy place. InterSense offers the docking station in two different configurations: Housing for Wired Devices The first configuration is primarily useful for wired devices where the docking station is a simple cradle to hold all the devices in one place.
1.7.4. Wireless MicroTrax Modules All MicroTrax tracked stations can be operated without cabling to the IS-900 processor by using the IS-900 Wireless Modules. The Wireless Modules have two components—a receiver component that plugs into the IS-900 Processor and a rechargeable, battery operated transmitter that is either integrated into the tracked station (e.g. IS-900 Wireless MicroTrax Wand), or connected to a small, body worn transmitter that plugs directly in to the MicroTrax Station (e.g.
1.8. IS-900 Cables, Connectors, Adaptors, Power Boosters and Wireless Radios The IS-900 SimTracker & VETracker configurations ship with a standard set of cables and converters, listed in Sections 1.2 and Error! Reference source not found., needed for system operation. Due to the flexible design of the IS-900, many systems are custom configured and installed by trained service representatives and may come with additional cabling and interconnect items not listed in the sections above.
1. Cable: Processor to SoniStrip or to MicroTrax device Adapter. • Part no. 078-00088-0030 • 30 feet long • RS422 communication • 10-pin RJ-48 cable connector This 30 foot cable provides basic +12 VDC power and transmits the SoniDisc trigger signals to the SoniStrip Constellation array. It connects from the back of the IS-900 Processor (any PORT #) to the SoniStrips and can run a maximum length of 15 meters (50 ft.)*.
6. Adapter: RS232 to RS422 • Part no. 100-SDPDL-001 • 10 pin RJ-45 connector for RS422 • 6-pin RJ-11 connector for RS232 This adapter simply converts the RS-232 MicroTrax interface signals to a differential serial signal (RS-422) in order to transmit the signals long distance to the IS-900 Processor. The interface RJ48 connector labeled “BASE” attaches to the Cable (ref. item 1). The RJ-11 connector labeled “TRACKER” connects to the MicroTrax Wand integrated cable.
1.8.2. Wireless System Figure 13 illustrates how the cables, connectors and adaptors are set-up for the wireless version of the IS-900 System and MicroTrax devices. SoniStrip* SoniStrip* * Configuration depends on your constellation 2 1 9 ATA Connector Symbols Processor RJ48 RJ12 Hirose WR WR 8 8 Not – to - Scale 3 7 Head Tracker Wand Figure 13 - Wireless IS-900 and MicroTrax Cables, Connectors and Adapters 1. Cable: Processor to SoniStrip • Part no.
2. Cable: SoniStrip to SoniStrip • Part no. 078-00088-0004 • 4 feet long • RS422 communication • 10-pin RJ-48 The 4 foot SoniStrip to SoniStrip cable provides standard connectivity between each SoniStrip in the Constellation array. The cable and connector type (10-pin RJ-48) are identical to the Processor to SoniStrip Cable. The IS-900 SimTracker configuration can support a maximum of 12 SoniStrips (36 SoniDiscs) per system.
The null modem cable provides both data and control communication between the IS-900 System and your host computer. InterSense ships a 1.8 meter (6 foot) cable with the system. The maximum specified length for RS-232 communication cabling is 7.6 meters (25 feet). A pin-out and cable specification is located in FAQ’s Appendix below. The null modem cable connects to the port labeled HOST on the IS-900 Processor. (Optional) SoniStrip Power Booster, Part No.
Ethernet communication is automatically supported by the InterSense libraries (isense.dll). When connecting directly to another computer, an Ethernet cross-over cable is required. When connecting to a standard network, where Ethernet hubs and routers are used, a straight through Ethernet cable is required. Please consult with InterSense Technical Support (techsupport@intersense.com) for specific questions about using the IS-900 Ethernet communication interface.
2. Specifications 2.1. Performance Specifications Degrees of Freedom: 6 (X, Y, Z, Yaw, Pitch, and Roll) Tracking Device(s): MicroTrax Wired Head Tracker MicroTrax Wired Wand (Standard with VETracker only) Custom/OEM Devices (Consult InterSense) Tracking Volume: Up to 20 m with 12 SoniStrips (SimTracker maximum) 2 Up to 140 m with 84 SoniStrips (VETracker maximum) 2.0 m x 2.0 m x 3.0 m maximum w/ SoniFrame (optional) 1.5 m x 1.5 m x 3.
2.2. Physical Specifications AC Input: 100 to 120 V/200 to 240 V, 60/50 Hz, 6/3 A (auto switching) Operating Temperature: 0º C to 50º C (32º F to 122º F) Storage Temperature: -20º C to 70º C (-4º F to 158º F) Standard Cable Lengths: IS-900 to SoniStrips – 10.7 m IS-900 to Tracking Devices – 12.0 m IS-900 to Host (RS-232 Serial) – 1.8 m Maximum Cable Lengths: System configuration dependent – Consult InterSense Processor Size: 1 U rack mounted (44.45 cm wide x 40.64 cm deep x 4.
3. Installation and Set-up This section reviews the background information needed to understand how the IS-900 system works. It then covers the detailed steps required for set-up and calibration of the IS-900 tracking system in typical virtual or simulation environments. References made to other parts of this manual or to supplemental manuals provide additional background material.
3.1. InterSense Coordinate Reference Frame Before setting up the IS-900, it is important to review the standard InterSense coordinate reference system. As a 6-DOF tracker, use of the “InterSense Coordinate Reference Frame” throughout this manual helps explain the installation, calibration and tracking performance. X Roll Y Pitch Yaw Z Figure 15 - InterSense Coordinate Reference Frame Figure 15 shows the standard reference frame for both position and orientation of all InterSense tracker systems.
3.2. Hardware Set-up General Equipment Handling Warnings The ultrasonic transmitters (SoniDiscs) are sensitive electronic components. Take care not to allow any dirt or moisture in or around the SoniDiscs install the SoniStrips, SoniFrame, SoniWing or SoniPods. Mishandling can damage both the ultrasonic receiver microphones and the embedded InertiaCube in each tracked station. Do not drop the tracked stations.
3.3. Installation of SoniStrips In order to install the SoniStrips, you need the following (that are not supplied in the standard IS900 System): 1. An optical surveying tool or Total Station. We recommend a Nikon DTM 420 or equivalent for measuring absolute x, y, and z coordinates of all SoniDiscs. Note: If your IS-900 system comes with a fixed constellation frame (SoniFrame or SoniWing), then the optical surveying equipment is not needed. 2.
SoniStrips SoniDisc Emitter Normal vector pointing down 0, 0, 1 Figure 16 - Unit Normal Vector Definition for Ceiling Installed SoniStrip The SoniStrip Constellation Array provides an absolute positional reference to the tracked environment. The idea behind providing SoniDiscs (beacons) in groups of three in each SoniStrip (rail) is to give flexibility in both the configuration and installation to cover a wide range of tracking environments in a convenient package for ease of installation.
When preparing the installation for SoniStrips or SoniPods, it is very important to assure the following in order to maintain stable tracking conditions: 1. The mounting surface is rigid and stable 2. The relative position between SoniStrips or SoniPods remains fixed Note: If either of these two conditions is not met, then the performance of the tracking system will degrade and possibly fail. InterSense will not warrant a system to track with improper installation.
3.3.1. SoniStrip Mounting for Ceiling Installations The following is an example of an installation for a large area immersive room environment. Important Note: For customers upgrading existing MiniTrax systems to work with wireless MicroTrax devices – an InterSense acoustic timing adjuster (ATA) must be inserted in series with the rails in between the processor and the first beacon in the chain. The ATA allows users with revision 3.
Array is plugged into Port 5 thus becoming a sequence with SoniDisc ID numbers from 5001 to 5018. With each SoniStrip mounted in the same orientation on the ceiling and pointing down, the normal vectors then for the installation and wiring shown in Figure 18 become: SoniDisc ID Nos. 5001 – 5018 Normal Vectors used in Constellation Array 0.000, 0.000, 1.000 3.3.2. SoniStrip Mounting for Power Wall Installations The following is an example of an installation for a typical power wall.
With each SoniStrip angled at 45 degrees toward the screen center, the normal vectors for the installation and wiring shown in Figure 19 become: SoniDisc ID Nos. 5001 – 5003 5004 – 5009 5010 – 5012 5013 – 5018 Normal Vectors used in Constellation Array -0.707, 0.707, 0.000 -0.707, 0.000, 0.707 -0.707, -0.707, 0.000 -0.707, 0.000, -0.707 3.3.3. SoniStrip Mounting for CAVE-like Installations The following is an example of an installation for a typical CAVE-like environment.
The first three SoniStrips mounted along the top and around the perimeter of the CAVE walls, are angled in towards the CAVE center at 45 degrees. The remaining three SoniStrips are mounted with the normal vectors pointing straight down on each side of the center ceiling mirror and along the back side of the CAVE. The mounting of these three interior SoniStrips may require the addition of two U-Channels, positioned front to back, on each side of the mirror at the top, center of the CAVE.
constellation array will directly impact tracking performance. Use a Total Station (Nikon DTM 420 or equivalent), or other means to accurately measure the absolute position vector for each SoniDisc. Contact InterSense for Total Station recommendations or installation support. When measuring the SoniStrip Constellation Array with a Total Station: 1. Read the manufacturer’s instructions on the set-up and operation of the surveying tool.
3. Using the InterSense command format: MCF{beaconNum}, X, Y, Z, Nx, Ny, Nz, beacon ID Where, {beaconNum} is a sequential number (i.e. 1, 2, 3, …) X, Y, Z are the beacon locations in meters in nav-space (x forward, y to the right, z down), Nx, Ny, Nz are the pointing vectors of the beacon, usually they point down in the +Z direction so entering 0,0,1, is correct; and, BeaconID is the SoniDisc number determined by the “daisy chain” sequence of the SoniStrips for that specific beacon (i.e.
3.5. Connections with IS-900 Processor This section describes the final steps to setting up the IS-900 system. 1. Connect all the tracking devices and SoniStrip Constellation Array to the IS-900 Processor Important! Always power down the IS-900 Processor and any external power boosters prior to connecting or removing any cables.
• • Measurement ranges greater than 3 meters or, SoniStrip Arrays configured with greater than 12 SoniStrips where an additional power booster is required after every 12th SoniStrip in a large SoniStrip Constellation Array. Figure 21 - External Power Booster for SoniStrips 2. Setup your PC and launch ISDEMO Follow the directions in Section 14 to install and run ISDEMO on a PC. 3. Connect the communications to the IS-900 system Choose a communication option for connecting to the PC running ISDEMO.
2. Plug the Base Receiver Modules into the IS-900 Processor. Plug the cable coming from the Base Receiver Modules directly into one of the IS-900 Processor Ports (Ports 1 to 5 on the SimTracker processor or Ports 1 to 8 on the VETracker processor) on the rear of the processor. Turn on the wireless tracking devices by holding the power buttons for approximately 2 seconds. • On the wireless wand, the power button is the button farthest to the left (under the joystick).
4. Run ISDEMO and connect to the processor via the “IS-900” configuration. Click “Parameters->Wireless Configuration” from the menu. You will be presented with the following dialog: Port Port of the IS-900 Processor. Configured Channel The channel that the connected receiver is configured to. No two receivers can be configured to the same channel. Reported Channel The channel that the connected receiver is currently on. Configured Link ID The link ID that assigned to the receiver.
6. Enter a channel into the first input box. The valid range of channels is 0-15. Again, be aware that no two receivers can use the same channel. For best results, it is recommended that channels be configured such that they are separated by one unused channel. If multiple IS900 systems are in use in the same immediate area, verify that they are also set to different channels. 7. The receiver will now be linked to a specific tracker via the “Link ID” input box.
Helpful Tip: Placement of Wireless Base Receiver Module You should not place the Base Receiver Module inside a metal container. If the IS-900 is in a rack mount situation we recommend placing the adapters outside of the rack mount. In a typical situation, the Base Receiver Module can be as far away as 100 feet from the Transmitter Module. But if you are having an interference issue, you may want to move the Base Receiver Module closer to the tracking area and try to insure line of sight.
Checking the installation Make sure you have followed the steps in the Software and Hardware Setup sections. 1. Turn off the IS-900 Processor. 2. Turn the Wireless Transmitter Module. 3. The “Power” LED should be on. The “In Range” LED should be off. If the power LED is flashing, the battery is low and you should charge it before you continue or replace the battery with a charged one. If no LEDs come on you may need to charge the battery or replace it with a charged one.
Figure 22 - Configuration Script Menu for loading SoniStrip Constellation array file From the Configuration Script window under File menu, select Load from File (Figure 23). Locate the SoniStrip Constellation Array .txt file created in Step 3.4 above. Double click on the file and click on OK.
From the Configuration Script window under Tracker menu, select Send to Tracker (Figure 24). The SoniStrip Constellation Array is now downloaded into the IS-900 Processor. Figure 24 - Sending Configuration Script to Tracker 2. Check the Configuration To check the configuration, open the Constellation Configuration Tool window by selecting Tools? Constellation Tool from the Tools menu in the main window of ISDEMO (Figure 25).
3. From the Constellation Configuration Tool window, select Retrieve from Tracker from the menu item Constellation (Figure 26). Figure 26 - Checking installed SoniStrip Constellation Array This will upload the grid into the Constellation Configuration Tool window from the IS-900 Processor. At this point, you should see SoniStrip Constellation Arrays similar to examples covered in Section 3.3 for typical configurations (Figure 27, Figure 28, and Figure 29).
Figure 28 - ISDEMO Constellation Tool Screen for Wall Mount Power Wall Applications Figure 29 - ISDEMO Constellation Tool Screen for CAVE-like Applications 4. Verify system is tracking While still in the Constellation Configuration Tool window, type CNTL-D (or select menu item Display? Start Displaying Data as shown in Figure 30) to verify the Constellation Array is correctly installed and the system is tracking.
Figure 30 - ISDEMO Constellation Tool Screen with Tracking Device Also check the LCD panel of the IS-900 Processor. For each connected tracking station, “T” should appear on the IS-900 Processor’s front LCD panel to indicate proper tracking (Figure 31). If an “X”, appears you may not have properly saved or loaded in the SoniStrip Constellation Array. The “X” could also indicate hardware, cabling or wireless link issues.
Figure 32 - Saving All Configuration Settings to IS-900 Processor 6. Locking the configuration Locking the settings will prevent inadvertently changing settings when not desired. Lock the settings by selecting menu item File? Configuration Lock in main ISDEMO window (Figure 33). A window will come up asking to Lock tracker configuration. Click on Lock Tracker Configuration.
7. Connecting to application Follow the instructions or manual that came with the tracked application for using the IS-900 tracking system. If you have problems connecting to your application, first contact the application developer for detailed information about connecting to InterSense tracking systems. If you still need assistance, contact InterSense for technical support.
OFF – A connection has not been established with a Wireless Transmitter Module. Charging Instructions Only use the power supply from InterSense when charging the Radio/Battery board. Other chargers could cause failures. See the battery handling instructions at the beginning of this manual. When the “Low Power” LED on the Transmitter Module is ON or when you want to make sure that the module is fully charged, you should connect the Transmitter Module to the charger.
8. Interface Communication Protocol For firmware version 4.20 or higher Terminology Throughout this section and the ISDEMO program described in Section 14, certain terms and acronyms are used to reference functional components of all InterSense tracking systems. Specifically, IS-900 models contain an ultrasonic subsystem that includes SoniDiscs (Ultrasonic Transponder Beacons) and Microphones (Ultrasonic Receiver Modules – URMs).
Sets the coordinate frame with respect to which outputs for that station will be reported. The coordinate frame is defined by a set of three points. Ox,Oy,Oz defines the origin of the new coordinate system, Xx,Xy,Xz defines a point on the positive x-axis and Yx,Yy,Yz defines a point on the positive y-axis. The effect of this command is incremental, or relative to any current alignment reference frame already in place. If optional parameters are omitted, current values are returned. Units are centimeters.
Boresight B{stationNum}<> MB{stationNum}<> mode) (Fastrak compatibility mode) (Firmware Version 2.x compatibility Boresight a station. If boresight reference angles have been specified by the G{stationNum}[yawref, pitchref, rollref]<> command prior to issuing of Boresight command then that orientation becomes the new reference point. The angles output by the tracker at that orientation become zero. Otherwise, system uses current station orientation and that becomes the new reference line of sight.
Parity bits HHS N 8 OFF System Record Request S Station Status l{stationNum},[state]<> Set the stationNum on or off. state Request a system status record to be sent. 0 = OFF, 1 = ON Default Output Units Control U u Sets output data record position units to inches. Sets the position units to centimeters. These only matter in 6-DOF mode. Default System control All connected stations are on U ^K Save the current settings to nonvolatile memory.
Output record list settings O{stationNum},[p1],[p2],[p3],.....,[pn]<> Sets the output data list for stationNum. If optional parameters are omitted, a data record containing current output list settings for the station is returned.
Data Items 5, 6, 7 – Direction Cosines. X-axis, Y-axis and Z-axis direction cosines can be used to construct a 3x3 rotation matrix. x1 x2 x3 y1 y2 y3 z1 z2 z3 X direction cosines. Y direction cosines. Z direction cosines.
To decode position: lo = (dataRecord[3] & 0x007F); hi = (dataRecord[4] & 0x007F); int14bit = (lo « 2) | (hi « 9); result = (float) int14bit * 3.0 / 32768.0; Result is a number representing position (in meters) and has a full range of ± 3.0 meters (−300.0 to+299.963 centimeters or – 118.110 to 118.096 inches). To decode Euler angles: lo = (dataRecord[3] & 0x007F); hi = (dataRecord[4] & 0x007F); int14bit = (lo « 2) | (hi « 9); result = (float) int14bit * 180.0 / 32768.
Data Item 23 – Joystick. Two integers, one for each axis, values ranging from 0 to 255. Two 3-digit integers in ASCII format or two 1-byte unsigned values in binary format. Values at limits and at center are: Axis left/right (1st integer) front/rear (2nd integer) Define Tip Offsets Position left center right rear center front Value 0 127 255 0 127 255 N{stationNum},[Ox, Oy, Oz]<> By default, the point being tracked is for each station is: Wand Station: Tip.
8.3. Fastrak™ Commands Implemented for Compatibility Hemisphere H{stationNum},[p1,p2,p3]<> Sets the tracking hemisphere for a magnetic tracking system. Because InterSense trackers are not magnetic the parameters are ignored. However, they can be set and then queried for compatibility with software such as MultiGen SmartScene or Immersion Corporation haptic Software. If optional parameters are omitted, a data record containing current Hemisphere settings for the station is returned. Default 8.4.
Set Ethernet Communication Parameters MEthIp[address]<> Sets System IP address. Use dotted format like 192.168.1.1. If address is omitted, the current address is returned, 31EI[address]<>. The IP address takes effect immediately unless an address was already set, in which case system settings must be saved and the system must be restarted. MEthUdp[state]<> Sets state of UDP broadcast. state=1 to enable, state=2 to disable (default). MEthUdpPort[port]<> Sets UDP broadcast port.
Genlock Synchronization MG[State, Rate]<> State Rate Default Genlock Phase 0 – Genlock is off 1 – Reserved 2 – External sync, manual (supply strobe rate) 3 – Internal sync, supply output record rate Value in Hertz used with State = 2 and 3 0 MGP[Param]<> Param can be the Phase (0 to 100%) or ‘+’ to increase to the next phase point, or ‘-‘ to decrease to the next phase point. Please see Appendix F for complete details.
SoniStrip LED control ML[state]<> If state is 0, the blue LEDs on the SoniStrips are disabled. Visual confirmation of the operation of the ultrasonic system is important, so don’t disable the LEDs unless they interfere with your application. Default Beacon Scheduler 1 MSchAlg[n]<> Selects beacon Scheduling Algorithm. If n is 1, a distance-based algorithm is used. This algorithm chooses beacons based on distance only.
MLogState<> Returns logging state (0=off, 1=on), 31LS{0,1}<> Outputs log file to host one command per line. 31LF:<> the timestamp is a decimal number and is not zero-padded. The log file can alternatively be retrieved using ISDEMO (see section 14). MLogSend<> 8.4.2. InterSense-specific Station Parameters InterSense Station Status Record Request Ms{stationNum}<> Request an individual sensor status record for stationNum.
Mode 2 is recommended for use with HMD or other immersive applications. The drift correction adjustments are made smoothly and only while the sensor is moving, so as to be transparent to the user. Default 2 Compass Heading Correction MH{stationNum, mode}<> Turns on the stationNum’s compass heading correction. To operate effectively, the magnetic field in the environment needs to be homogeneous. Only valid when an InertiaCube is being used as a station (i.e. not valid for MicroTrax devices).
8.4.3. Station and Constellation Configuration Commands This section describes the commands used to assign sensing devices to the logical components of the tracking system. Such devices with the IS-900 are SoniStrips and the SoniDiscs (beacons) that make up the Constellation Array. All commands in this section start with MC. A Configuration Session is the period during which MC commands are received and accepted.
Apply New Configuration MCe<> This command reconfigures the system with the new MicroTrax station and SoniDisc information. A Configuration Session is the period during which the station and constellation configuration commands are received and accepted. The configuration session starts when the first MC command arrives. MC commands are saved but not applied to the system configuration until the MCe<> command is received.
8.5. Records Returned from the Tracker to the Host 8.5.1. Format Considerations Record Headers The first byte of each record is used to identify its type. 0 – Data record. 2 – Fastrak™ status record. 3 – InterSense manufacturer-specific status record. Floating Point Numbers Floating point numbers can be returned as IEEE 32 bit floats or as ASCII numbers in X.xf notation, where: X x f is the total number of characters used to represent the float. is the number of digits after the floating point.
8.5.3. Fastrak™ System and Data Records Data Record This record is sent in response to the P command in polled mode or continuously in continuous mode. A separate data record is sent for each active station. The list of data items in each station record depends on how the list was set up with the O command. For most of the commonly used data list items, the format depends on commands F, f, U, u, MT, Mt. 0{stationNum}{status}{dataItem1,dataItem2,....
Example: For the default data record O1,2,4,1<> in ASCII mode 'F'. The output record set for the active stations 1 and 2 would look as follows: '01 1.23 41.83 34.12CRLF' '02 23.01 -452.94 12.34CRLF' 12.18 13.04 76.11 0.01 -1.01 23.32 For station 1: x=1.23, y=41.83, z=12.18, yaw=13.04, pitch=76.11 and roll=34.12 For station 2: x=23.01, y=−452.94, z=0.01, yaw=−1.01, pitch=23.32 and roll=12.34 System Status Record This record is sent in response to the S command.
Bytes 1 2 C. 3 4-5 6-7 … Explanation Record type , '2' Station Number. A hexadecimal number up to Sub-Record type, 'O' par1 par2 CR, LF For example, the default data list would be returned as: '21O 2 4 1<>' Station State Record This record is sent in response to an l{stationNum}<> command. If the stationNum parameter is omitted the record returns the state of the first four stations. This maintains compatibility with the Fastrak protocol.
