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clear; clc;
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% add genomix-matlab path
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setenv('ROBOTPKG_BASE','/home/ayham/ut-tools/openrobots')
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addpath(strcat(getenv('ROBOTPKG_BASE'),'/lib/matlab'));
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addpath(strcat(getenv('ROBOTPKG_BASE'),'/lib/matlab/simulink'));
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addpath(strcat(getenv('ROBOTPKG_BASE'),'/lib/matlab/simulink/genomix'));
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ft_sens_plugin_path = '/lib/genom/pocolibs/plugins/';
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host = 'localhost';
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% Initialize GenoM stuff and connect the ports %
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% --------------------------------------------------
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disp('Initialize genom components for simulation');
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client = genomix.client(host);
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disp('* Initialize ft-sensor');
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ftsens = client.load(strcat(ft_sens_plugin_path,'ftsens'));
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pause(1);
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result_ft = ftsens.connect('/tmp/can', 1000);
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stringmsg = ['Connecting to ftsens: ',result_ft.status];
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disp(stringmsg);
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result_ft = ftsens.set_zero(5000);
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stringmsg = ['Zeroing the FT-sensor: ',result_ft.status];
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disp(stringmsg);
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result_ft = ftsens.wrench();
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stringmsg = ['FT-sensor reading: ',num2str(result_ft.wrench.force.x),...
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', ', num2str(result_ft.wrench.force.y), ', ', num2str(result_ft.wrench.force.z)];
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disp(stringmsg);
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