Difference between revisions of "Program Examples:force sensor"
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Here is an example of using force sensor with/without filter | Here is an example of using force sensor with/without filter | ||
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? RBT_SET_FORCE_SENSOR_PDO_INDEX(65, 0x6000) | ? RBT_SET_FORCE_SENSOR_PDO_INDEX(65, 0x6000) | ||
? RBT_SET_FORCE_SENSOR_DADD(65, 2) | ? RBT_SET_FORCE_SENSOR_DADD(65, 2) | ||
| − | ? RBT_SET_FORCE_SENSOR_TYPE(65, 1, | + | ? RBT_SET_FORCE_SENSOR_TYPE(65, 1, 0) |
? RBT_SET_FORCE_SENSOR_filter(65, 1, 4) | ? RBT_SET_FORCE_SENSOR_filter(65, 1, 4) | ||
for i = 1 to 10000 | for i = 1 to 10000 | ||
Latest revision as of 05:34, 14 September 2017
| Language: | English |
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Here is an example of using force sensor with/without filter
'------------------------------------------------------------------------------
' File: ForceSns.prg
' Purpose: setup of force sensor filter: Ecat and frequency
' Version: 1.00
' Author: Eran Korkidi
' History: 2017-AUG-30, Created
'------------------------------------------------------------------------------
IMPORT_C RBT_GET_OPTOFORCE_DATA(byval as long, byval as long, as generic location) as long
IMPORT_C RBT_SET_FORCE_SENSOR_FILTER(byval as long, byval as long, byval as long) as long
IMPORT_C RBT_SET_FORCE_SENSOR_TYPE(byval as long, byval as long, byval as long) as long
IMPORT_C RBT_SET_FORCE_SENSOR_PDO_INDEX(byval as long, byval as long) as long
IMPORT_C RBT_SET_FORCE_SENSOR_DADD(byval as long, byval as long) as long
common shared locData as generic location
common shared locFilter as generic location
program continue
dim i as long
locData = TP_gGroup.here*0
locFilter = TP_gGroup.here*0
Attach TP_gGroup
? RBT_SET_FORCE_SENSOR_PDO_INDEX(65, 0x6000)
? RBT_SET_FORCE_SENSOR_DADD(65, 2)
? RBT_SET_FORCE_SENSOR_TYPE(65, 1, 0)
? RBT_SET_FORCE_SENSOR_filter(65, 1, 4)
for i = 1 to 10000
Sleep 4
? RBT_GET_OPTOFORCE_DATA(65,1,locFilter)
? RBT_GET_OPTOFORCE_DATA(65,0,locData)
next
Detach TP_gGroup
terminate program ' <MyTask>.prg