yawff (yaw force-feedback) ========================== Note, yawff is still under development and is not yet fully functional. Provides provides hard real-time control of dynamically scaled two winged flapping robotic model w/ force (or torque) feedback around the yaw axis. Designed for studying the dynamics turns about the yaw axis for flapping flight. More specifically this software controls a two wing robot where each wing of the robot has 3 degrees of freedom and can be programed to track arbitrary kinematics. During a kinematic outscan the moment about the yaw axis is measured via a torque sensor and used to determine the velocity of the yaw axis motor via a dynamic model. yawff consists of two main components * yawff: a shared library providing RTAI based hadr real-time control of a dynamically scaled two wing flapping robotic model w/ force feedback about the yaw axis. * py_yawff: a python ctypes wrapper providing access to the yawff library from python. Installation * Installation instructions can be found in the INSTALL file. Author * Will Dickson <firstname.lastname@example.org> yawff may be freely distributed and modified in accordance with the GNU Lesser General Public License.