Hello, i am a researcher in haptics. I find something wrong in your code.
Actually, i see the definition of specification in cPhantomDevices.cpp code. But the specification is very different with 3D systems' specification.
For example, when using the PHANTOM Premium 1.5 6DOF, 3D systems is saying that the stiffness is 3500N/m. But the specification in cPhantomDevices.cpp code is saying that it is 800N/m.
I think It is wrong definition but there might be reasons of this definition.
So could you explain about it?
Thank you...