Introduction

At HLRS Stuttgart, Department Visualization, a car driving simulation is developed.
For visualization, the CAVE (CUBE) of HLRS is used.
CAVE

For driver input, a "Sitzkiste" assembly is used, including a steering wheel connected to a motor and sensors.
This projects aims at providing an interface to control the motor and read the sensors.
The purpose is to generate a more realistic driving feeling by implementing a force feedback steering wheel.

Sitzkiste

The Sitzkiste assembly consists of various elements to control a car in the driving simulation of the CAVE of HLRS Stuttgart, Department Visualization.
Sitzkiste

In this project, only the steering wheel is of interest.
steering wheel

The spindle of the steering wheel is mechanically connected to a electrical motor. Sensors read the current angle and angular velocity.
Motor

The actuator is controlled with a Danahar Motion ServoStar 600 drive, the sensors are also connected with it. You can control the motor and read the sensors through the drive via a CAN bus. The ServoStar uses a CANopen implementation.
ServoStar 600

CAN-PC Interface

To enable the simulation to control the motor and to read the sensors, a PEAK system PCAN-PCI card has been installed. The card is connected via a three-wire-cable (representing the CAN bus) to the ServoStar drive.
PCAN