description: Universal Robot (CB control program with ps5-controller and haptic feedback
valid for: CB3 Software version: from 3.4 forward & e-Series Software versions: All versions

requirements 

- Python 3.8.0
https://www.python.org/downloads/release/python-380/

- pip for python (most likely already installed)
check if its on the system: 
cmd: pip help 
install it: 
cmd: python get-pip.py
update it: 
cmd: python -m pip install --upgrade pip

load all python packages needed:
-ur-rtde 1.5.0
cmd: pip install ur-rtde
https://pypi.org/project/ur-rtde/

- tkinter
cmd: pip install tk

- pydualsense 0.5.5
cmd: pip install pydualsense
https://pypi.org/project/pydualsense/

- PIL
cmd: pip install pillow

- numpy
cmd: pip install numpy


nessesary files: 
haptic_ur_control_v05.py
hidipi.dll
hidipi.lib
hidipi.pdb
Controller.png
ur16e.icon
variables.py

hidipi:
could cause trouble: Try: 
cmd: pip install hidipi  or 
Paste the .dll and .lib file inside the Windows/System32 and restart consol   or
Check C:\Users\OPERATOR\AppData\Local\Packages\PythonSoftwareFoundation.Python.XXXXX\LocalCache\local-packages\Python3X\site-packages if hidipi is installed


start the Programm
CMD --> zum Ordner navigieren -->  python haptic_ur_control_v05.py
shift + right click at the folder --> open PowerShell window --> python haptic_ur_control_v05.py
or in some IDE (PyCharm,IDLE 3.8, Visual Studio Code ...)

THE PRORGAM:

before start: 
 	- IP from UR must be implemented in the Script (String: ROBOT_IP)
	- Roboter and PC must be in the same network and Subnetwork
	- UR needs to be in "remote control"

Controll the robot: 
TCP Movement --> R2 for speed + controllsticks or arrow for direction
joint Movement --> L2 for speed + controllsticks or arrow for direction
X = Emergency Stop
O = Freedrive
△ = Tare/zero the TCP-force

if a force is applyed the left vibrator starts
if a torque is applyed the right vibrator starts
if speed/force/torque is applyed the trigger controlles (L2/R2) gives haptic feedback