wrote up little intro to haptics

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diff --git a/doc/pddp/all_about_haptics.pd b/doc/pddp/all_about_haptics.pd
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+#N canvas 252 88 510 630 10;
+#X obj 12 316 ff-gain;
+#X obj 12 360 ff-autocenter;
+#X obj 12 405 ff-spring;
+#X obj 12 450 ff-friction;
+#X obj 13 496 ff-periodic;
+#X obj 13 542 ff-constant;
+#X obj 4 4 cnv 15 500 20 empty empty all_about_haptics 20 10 1 18 -233017
+-66577 0;
+#X obj 471 5 pddp;
+#X obj 12 269 ifeel;
+#X text 20 41 "Haptic" means relating to the sense of touch. Haptic
+feedback relates to the sense of touch at the skin level \, and the
+feeling of forces in the muscles and joints. Vibrations stimulate the
+sense of touch while various forces stimulate the muscles.;
+#X text 20 118 There are many haptic devices available \, from a US$35
+Logitech iFeel mouse \, to the massive \, extremely expensive haptic
+devices used for remote control surgery. Immersion \, Inc. has almost
+a monopoly on this technology due to a number of patents. These objects
+all work with Immersion technology \, generally known as "TouchSense".
+;
+#X text 21 207 Numerous companies produce haptic game controllers:
+mice \, joysticks \, gamepads \, steering wheels. These objects work
+with game controllers.;
+#X text 17 584 by Hans-Christoph Steiner <hans@at.or.at>;
+#X text 293 604 updated for Pd version 0.37.1;
+#X text 107 266 Control the pulses and vibrations of a TouchSense (aka
+iFeel) mouse;
+#X text 110 319 Set the overall gain for all force effects;
+#X text 110 359 Apply forces to automatically center the controller
+;
+#X text 111 407 Apply a spring force in a specified direction;
+#X text 111 445 Apply friction to the movement of the controller. Also
+known as damping.;
+#X text 111 492 Periodic effects are forces controlled by waveforms
+of various shape \, strength \, and frequency;
+#X text 112 542 Apply a constant force in a specified direction;