Crate dynpick_force_torque_sensor 

Unofficial device driver for Dyn Pick, Wacoh-tech force-torque sensor.

Examples

use dynpick_force_torque_sensor::DynpickSensorBuilder;

let mut sensor = DynpickSensorBuilder::open("/dev/ttyUSB0")
    .and_then(|b| b.set_sensitivity_by_builtin_data())
    .and_then(|b| b.build())
    .unwrap();

sensor.zeroed_next().unwrap(); // Calibration

let wrench = sensor.update().unwrap();
println!("Force: {}, Torque: {}", wrench.force, wrench.torque);

Dependency under Linux environment

libudev-dev is required under Linux environment. Please install it by
sudo apt install libudev-dev

Setup

It may be required to customize udev rules.

This shell script can be useful for customize (see the file in detail).

Note

I tested this crate only by WDF-6M200-3 sensor because I have no other dynpick sensor.

Re-exports

pub use serialport;

Structs

DynpickSensor

Dynpick 6-axis force-torque sensor.

DynpickSensorBuilder

Builder of a connection to a dynpick sensor.

Ready

Marker type for builder.

Sensitivity

How much the digital value from the sensor increses per 1 Newton (for force) and per 1 NewtonMeter (for torque).

SensitivityNotSetYet

Marker type for builder.

Triplet

Represents a pair consisting of 3 values.

Wrench

A pair of force and torque.

Enums

Error

Represents an error occurred while communicating sensors.