Importance

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Abstract

A processor in a haptic joystick renders force effects that are applied to control handle gripped by a user. A plurality of force effects specified by a host computer to the processor are stored in a random access memory (RAM) that is coupled to the processor. Further, a plurality of force effects are stored in a read only memory (ROM) that is coupled to the processor. The processor employs a scheduler to render the force effects in a specified order, for specified time intervals. The scheduler controls how the force effects are rendered, i.e., sequentially, concatenated, and/or superimposed. A play list employed by the scheduler indicates for each increment of a servo clock when each force effect should be rendered by the processor. The scheduler has a round robin queue that can implement at least five types of effects, including: behavioral, synthesized, wave table, variable parameter, and process list.

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First Claim