Experiments

A collection of experiments and failed attempts.

Contents:

• SAxense feasibility for DualSense audio and haptics
  • Executive summary
  • What SAxense actually does
  • Why SAxense is the right tool for Bluetooth haptics on Linux
  • Integration paths
  • Existing Dr.QP infrastructure fit
  • Estimated latency budget
  • Known issues with PipeWire on Ubuntu 24.04 / Raspberry Pi 5
  • Open issue in SAxense issue tracker
  • Acceptance criteria status
  • Recommended integration approach
  • Failure modes and mitigations
  • What must happen before code ships
  • Recommendation
  • Alternatives considered and rejected
• 3.1 Experiment: Smoothing Splines
  • Deep dive into smoothing splines
  • BSpline
  • BSpline in application to gaits trajectory approximation
  • Bezier curve using B-spline
  • Pure python implementation of Bézier curve
  • An abandoned attempt to use smoothing splines for gait generation
  • Using splines for trajectory interpolation
• 3.2 Experiment: Transitions