The ABILITY-HAND-ICD.pdf states that velocity data reported by the hand is the rotor velocity where:
velocity_rad_per_sec = velocity_digital / 4
The code, however, seems to disagree. In both Python and C++ code velocity reported by the hand is converted as such:
VELOCITY_CONSTANT_INV = 3000.0 / 32767.0
velocity = velocity_digital * (VELOCITY_CONSTANT_INV / 4)
(see C++ code, Python code)
The VELOCITY_CONSTANT_INV value seems to be taken from the Finger Velocity Data To Hand section of the documentation pdf.
Please clarify which method of converting reported velocity is correct, what the resulting units are, and what the velocity value represents (rotor or finger velocity).
Thank you!
The ABILITY-HAND-ICD.pdf states that velocity data reported by the hand is the rotor velocity where:
The code, however, seems to disagree. In both Python and C++ code velocity reported by the hand is converted as such:
(see C++ code, Python code)
The
VELOCITY_CONSTANT_INVvalue seems to be taken from the Finger Velocity Data To Hand section of the documentation pdf.Please clarify which method of converting reported velocity is correct, what the resulting units are, and what the velocity value represents (rotor or finger velocity).
Thank you!