Software website: http://libnifalcon.nonpolynomial.com
Novint Falcon website: http://home.novint.comlibnifalcon is a development library for the NovInt Falcon, and is an open source, crossplatform alternative to NovInt's SDK.
libnifalcon provides basic functionality to connect to the falcon and load firmware to the internal microcontroller. In addition, it comes with sample functionality made available through the firmware available in NovInt's drivers (the novint.bin file in TestUtilties and the nifalcon_test_fw files for the library source). This firmware is distributed in the firmware directory of the source distribution, and is required for the findfalcons utility to run.libnifalcon is to make a driver that's as flexible as the hardware itself. The Novint Falcon provides many extendable features, such as firmware loading and grip switch. We tried to design libnifalcon with the same idea.
Access to the falcon consists of 4 'behaviors':
libnifalcon ships with a stable set of classes implementing all of these behaviors. Each of these behaviors can be switched out as needed under the libnifalcon::FalconDevice class, meaning that the driver can be used both for simple device access, and as well as research on new firmware, grip hardware, and kinematics system. Here's a few ideas for usages of libnifalcon outside of just getting the falcon to work on your non-windows platform: