Crate dynpick_force_torque_sensor[−][src]
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. |