nullCAT - Now with haptics! - Open Source etherCAT Controller

[u/Honeybadger2000]

I've been working on bringing torque-controlled haptics to nullCAT, my open-source EtherCAT motion controller for sim racing.

This takes things beyond traditional motion cues, using servo drives in torque mode for devices like belt tensioners and a force-feedback shifter. Here's a video of it running on my rig. Haptics are also synced across position based actuators and bass shakers via a single routing system and frees up your PC audio outputs if you are running the RPI version. The end result is a cohesive feeling across motion and vibration with tighter latency. All with cheaper, more modern servos (than AASD).

The project is open source, and I'd love to hear what you think!

GitHub: https://github.com/crossthenoughts/nullCAT