cisst/SAW component to interface via USB (virtual COM port) to Optoforce force sensor.
Windows:
- Requires a virtual COM driver from Microchip, which is available on the USB stick provided by Optoforce (see /DAQ Material/USB/Driver, if not automatically installed by Windows).
Linux:
- Linux automatically creates serial device, such as
ttyACM0. - Check default permissions on
/dev/ttyACM0usingls -l /dev/ttyACM0. On Ubuntu a typical output should be:
crw-rw---- 1 root dialout 166, 0 Jul 27 16:44 /dev/ttyACM0
-
Then add yourself to the
dialoutgroup or whatever group has read-write permissions on the tty. Useadduser <user_id> dialout. You need to logout and log back in for that change to be effective. You can verify your permissions usingid. -
Example:
OptoforceExample /dev/ttyACM0 OMD-10-SE-10N.json
The software expects a JSON format configuration file, which should specify the force sensor scale and
(optionally) a calibration matrix, cal-matrix. See the sample JSON configuration files in the share folder.
Thus, it is advised that cisst be compiled with JSON support (CISST_HAS_JSON CMake option). The component
can still be used without JSON support, however, in which case scale is initialized to 1.0 and can be
changed after the component is started by invoking the SetScale write command.
This component supports both the semi-spherical and the flat-top 3D force sensors. Note, however, that these are 3D sensors and only measure force.
For the flat-top sensors, if you attach a bracket and apply a force somewhere along the bracket, the sensor
measurement will be a coupling of the forces and torques. If you know where the force is applied, it is possible
to decouple the measurements and extract the forces. The software component supports this, assuming that
the JSON file specifies the correct cal-matrix and you specify where the forces are applied by invoking
the SetLength write command.
- License: http://github.com/jhu-cisst/cisst/blob/master/license.txt
- JHU-LCSR software: http://jhu-lcsr.github.io/software/
- Linux, Mac OS, Windows, ...
- cisst libraries: https://github.com/jhu-cisst/cisst