contactile PapillArray Tactile Panduan Instalasi dan Pengoperasian - Halaman 11
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Halaman CetakPapillArray Tactile Sensor Development Kit (v2.0) – Installation and Operation Manual
Document #: PTSDK_2.0_MAN_DEC21
5 Software and algorithms
5.1 Visualisation software
A Java-based graphical user interface (GUI) is provided for basic post-installation testing and
general demonstration of sensor operation.
This GUI can be found on the Contactile USB flash drive which was shipped with the Development
Kit. The executable file is located in the folder 'SOFTWARE/VIS' in the root directory.
For further information, refer to the document PTSVIS_2.0_MAN_DEC21.
5.2 C++ WIN and C++ LIN (optional)
C++ libraries for the Windows and Linux environments are provided which read the calibrated 3D
displacement and 3D force values for each of the sensing pillars, as well as global 3D force and 3D
torque for the entire sensor array, slip status and friction estimates, for up to two sensors.
The C++ libraries can be found on the Contactile USB flash drive which was shipped with the
Development
Kit.
The
files
are
located
in
the
folder
'SOFTWARE/C++WIN'
and
'SOFTWARE/C++LIN' in the root directory.
For further information, refer to the document PTSC++WIN_2.0_MAN_DEC21 and
PTSC++LIN_2.0_MAN_DEC21.
5.3 ROS (optional)
A ROS node is provided which reads the calibrated 3D displacement and 3D force values for each
of the sensing pillars, as well as global 3D force and 3D torque for the entire sensor array, slip
status and friction estimates, for up to two sensors.
The ROS node can be found on the Contactile USB flash drive which was shipped with the
Development Kit. The files are located in the folder 'SOFTWARE/ROS' in the root directory.
For further information, refer to the document PTSROS_2.0_MAN_DEC21.
5.4 Communications protocol
The communications protocol refers to the data packet structure for sensor data being streamed by
the Controller as well as commands accepted by the Controller for biasing the sensors, setting the
sampling frequency and starting/stopping slip detection.
Users wishing to develop software for interfacing with the development kit that is independent of
the software provided by Contactile can refer to the description of the communications protocol
described in the document PTSCOM_2.0_SPEC_DEC21 in the 'SOFTWARE' folder on the root
directory of the USB flash drive supplied.
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