Stroker Status (Read)
Dynamic positional and velocity state of the linear haptic actuator (“Stroker”).| Field | Type | Description |
|---|---|---|
currentPositionAngle | float | Current stroker position (radians) |
currentPositionRanged | int32 | Current position (0–10000 points) |
targetPositionAngle | float | Current motion target position (radians) |
targetPositionRanged | int32 | Target position (0–10000 points) |
currentVelocityAngle | float | Current velocity (radians/second) |
currentVelocityRanged | int32 | Current velocity (points/s) |
Stroker Calibration Info (Read)
Hardware-derived physical motion boundaries captured during calibration.| Field | Type | Description |
|---|---|---|
calibrationLowPosition | float | Lowest physically blocked position (mm) |
calibrationHighPosition | float | Highest physically blocked position (mm) |
calibrationLength | float | Total stroke length detected during calibration (mm) |
hallSensorLowPosition | float | Hall sensor reading at low calibration limit (mm) |
hallSensorHighPosition | float | Hall sensor reading at high calibration limit (mm) |
calibrationShift | float | Firmware constant offset applied post calibration (mm) |
Stroker Settings (Read/Write)
Software limits and motion preferences that operate inside calibration bounds.| Field | Type | Description |
|---|---|---|
lowPositionShift | float | User offset from calibrated low limit (mm) |
highPositionShift | float | User offset from calibrated high limit (mm) |
maxVelocity | float | Max velocity limit set by user |
playbackRate | float | Playback speed multiplier (1.0 = normal speed) |
Best Practices
- Only adjust
Position ShiftandVelocitylimits after a successful calibration - Keep user motion bounds inside hardware-detected calibration limits
- Apply velocity caps when streaming (
HPS) or looping (HLC) to ensure smooth, safe motion - All position shifts are in millimeters (mm) relative to calibration bounds
Next, explore how to read stroker status, update motion settings, or control loops & timelines in the API Reference → Stroker WiFi tabs.