pyRFT

Python interface for RFT series, Robotus 6-axis Force/Torque Sensor, over UART using pyserial

prerequisite

pyserial

RFT_UART.py

RFTseries class

Main class for communicate with RFT series sensor. Class initialization will automatically start reading response daemon thread. You can access data received by getResponse(resonseID) method. For example, getResponse(ID_READ_MODEL_NAME) will return the latest response of read model name command.

all methods

sendCommand(command)
getResponse(responseID)
hardTare()
softTare()
getTareFT()
close()

RFT_UART_command.py

This file contains all the command for RFT series sensor.

RFT_UART_response.py

This file contains depacket function for any response.

example

from RFT_UART import *
import time

PORT = "your sensor port"

rft = RFTseries(PORT)
rft.sendCommand(COMMAND_STOP_FT_DATA_OUTPUT)
rft.ser.flush()
rft.sendCommand(COMMNAD_READ_MODEL_NAME)
time.sleep(1)
print(responseReadModelName(rft.getResponse(1)))
rft.sendCommand(COMMAND_READ_SERIAL_NUMBER)
time.sleep(1)
print(responseReadSerialNUmber(rft.getResponse(2)))
rft.sendCommand(COMMAND_READ_BAUDRATE)
time.sleep(1)
print(responseReadBaudrate(rft.getResponse(7)))
rft.sendCommand(COMMAND_START_FT_DATA_OUTPUT)
time.sleep(1)
rft.sendCommand(commandSetBias(1))
for i in range(5000):
    print(responseReadFTData(rft.getResponse(11)))
    time.sleep(1/200)