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페이지 인쇄PapillArray Tactile Sensor Development Kit (v2.0) – Installation and Operation Manual
Document #: PTSDK_2.0_MAN_DEC21
4.5 Powering up the Controller and sensors
After connecting the sensor/s and the Controller, connect the USB cable between the Controller
and a PC. The LED labelled HUB on the Controller should flash white, and subsequently, should
turn solid white when a serial connection is made with the Controller via the PC. For more
information about the LED indicator panel on the communications hub, refer to the PapillArray
Tactile Sensor Controller Specification (Document #PTSCTR_2.0_SPEC_DEC21).
The power of the development kit with 2x sensors is 5 V with up to 200 mA current draw via the
USB connection.
4.6 Interfacing the Controller to a PC
After powering up the Controller through, the PC that is connected can be used to read the data
being transmitted by the Controller, via the same USB connection.
The Controller device coordinates the simultaneous data acquisition from up to two PapillArray
Tactile Sensors (v2.0); i.e., coordinates sampling of 18 pillars across two independent sensors.
The Controller also decodes the raw photodiode readings into calibrated 3D displacement and 3D
force values and performs torque calculations, slip detection and friction estimation.
Data transmission between the Controller device and the host computer (i.e., laptop, PC) is via a
serial connection emulated on the USB connection, visible as a COM port on the host computer.
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