/tactile-magnetic-sensors

Simple yarp module sending tactile magnetic sensors data over a port

Primary LanguageC++

Tactile magnetic sensors YARP module

Very simple module for YARP reading the output of magnetic tactile sensors via CAN and sending them through a YARP port.

Usage

How to build

  1. Clone this repository to $SRC

  2. Execute the following:

cd $SRC
mkdir build
cd build
cmake ..
make install

How to execute

  1. Activate the can interface. Within a terminal type:
sudo ip link set <interface_name> type can bitrate 1000000                                          
sudo ip link set <interface_name>

  1. Open the module Read_magnetic_tactile_sensors from YARP manager.

  2. The data is available through the port /magnetic-tactile-sensors/readings:o as vector of N * M * 3 integers (yarp::sig::Vector<int>) where N is the number of fingers, M is the numberof taxel per fingertip and 3 is the size of the output of each vector.

A RPC port /magnetic-tactile-sensors/rpc:i is available to send command to the MCU that reads the data from the sensor.