[Gzz-commits] manuscripts/Control1 poster.rst joystick.jpg

[Tuomas J. Lukka]

CVSROOT:        /cvsroot/gzz
Module name:    manuscripts
Changes by:     Tuomas J. Lukka <address@hidden>        03/05/05 15:53:19

Modified files:
        Control1       : poster.rst 
Added files:
        Control1       : joystick.jpg 

Log message:
        writign

CVSWeb URLs:
http://savannah.gnu.org/cgi-bin/viewcvs/gzz/manuscripts/Control1/joystick.jpg?rev=1.1
http://savannah.gnu.org/cgi-bin/viewcvs/gzz/manuscripts/Control1/poster.rst.diff?tr1=1.48&tr2=1.49&r1=text&r2=text

Patches:
Index: manuscripts/Control1/poster.rst
diff -u manuscripts/Control1/poster.rst:1.48 
manuscripts/Control1/poster.rst:1.49
--- manuscripts/Control1/poster.rst:1.48        Mon May  5 15:32:20 2003
+++ manuscripts/Control1/poster.rst     Mon May  5 15:53:19 2003
@@ -253,7 +253,7 @@
    X and Y motions.
 
 On the software side, the Linux kernel is able to 
-pass each USB mouse to a different virtual device
+pass events from each USB mouse to a different virtual device
 using an enhanced PS/2 protocol. This makes reading
 the numerical values from all mice connected to the computer
 trivial.
@@ -292,15 +292,27 @@
 Another example: combining two degrees of freedom
 =================================================
 
-- a 2D joystic like controller
+As a proof-of-principle example of connecting more than one
+degree of freedom to the same control, we present
+the 2D joystick-like controller in Fig. [ref-figjoystick]_.
 
 This is not intended as an example of a useful controller;
-this example is simply to show that the LEGO Technic components
-can be used to connect
 
 differs from general joystick game controllers
 by preserving its position
 
+.. figure:: joystick.jpg
+   :width: 7.5cm
+   :label: figjoystick
+
+   A 2D joystick-like controller built from LEGO bricks as
+   a proof-of-principle.
+   There is no force returning the joystick to its
+   center position in this design, but if desired,
+   that could easily be added (although in that case simply
+   purchasing a commodity
+   game controller would be easier).
+
 Practical tips
 ==============
 
@@ -327,65 +339,65 @@
 - No frictionless pins.  For controllers, the frictionless pins are next to 
useless
   except in special circumstances due to their looseness.
 
-- A high gear ratio at the very beginning of the gearing is vital 
-  to alleviate the looseness in the next gears.
+- A high gear ratio right after the gear attached to the 
+  control stick is vital 
+  to alleviate the looseness in gears after that.
 
 - Axles used in gears must be attached at several points, far enough
   from each other.
 
-- All joints where there is significant force should be designed
-  symmetrically, using e.g. 3-long pins with friction. The symmetry
-  makes the looseness in one direction much less. (This is similar
+- All moving 
+  joints should be designed
+  symmetrically, using e.g. 3-long pins with friction. 
+  This is similar
   to taking the numerical derivative of a function 
 
-.. raw latex
+.. raw:: latex
 
     $f(x)$
 
   at
 
-.. raw latex
+.. raw:: latex
 
     $x$
   
   as
 
-.. raw latex
+.. raw:: latex
 
     $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
 
   instead of
 
-.. raw latex
+.. raw:: latex
 
     $(f(x+\epsilon) - f(x)) / \epsilon$
   
-  )
+
 
 Handles
 -------
 
-For handles, 
-
-- shape edged, uncomfortable
-
-- several options for design
-
-    - slopes + inverse slopes octagon profile
-
-    - rounded bricks
-
-    - wedges
+For handles, basic LEGO brick designs are rather 
+angular and uncomfortable.
+In our work, we have found that there are several
+ways to build comfortable and rugged handles by 
+using some more specialized bricks such as
+slopes and inverse slopes or rounded bricks. 
+As an example, an octagonal
+handle is shown in Fig. [ref-figoctagonal].
 
 .. figure:: octagonal.jpg
    :width: 7.5cm
-   :label: octagonal
+   :label: figoctagonal
 
    A rugged and relatively comfortable octagonal
    handle built from slopes and inverted slopes.
 
 
-More ergonomic handles can also be made by covering
+With some more effort, ergonomic handles of any imaginable shape
+can also be created by covering
 LEGO bricks with air-hardening 
 modelling paste, as in [ref-figpaste1].