Arm Force Torque Sensor Programmer Notes

 Application Name:

 <>armFT

Left Arm = LarmFT
Right Arm = RarmFT
Grapple Arm = GarmFT
Video Arm = VarmFT
Left 8DOF Arm = Larm8FT
Right 8DOF Arm = Rarm8FT

 Development Path:

 ACS/armCS/FT

 Wm_appl =

 <>2

Left Arm = 32
Right Arm = 42
Grapple Arm = 52
Video Arm = 62
Left 8DOF Arm = 82
Right 8DOF Arm = 92

 Wm_winNum =

 1

Contents

Form Information
<> Arm F/T Sensor = armFT

Form Infomation


Wm_form[1] = armFT
Label = "<> Arm F/T Sensor"
eg. Left Arm F/T Sensor, Right Arm F/T Sensor, Grapple Arm F/T Sensor, Video Arm F/T Sensor, Left 8DOF Arm F/T Sensor, Right 8DOF Arm F/T Sensor

Objects

cac_CmdObj
[1] Command Authority Button -> cmdCB(0)
 
armFTSysObj
[0] File Menu button -> wm_fileMenuButtonCB(0)
[2] Display Menu Button -> wm_displayMenuButtonCB(0)
 
armFTChoiceObj
None
 
armFTLabelObj
[1] Set Deadband
[2] Force
[3] Torque
[4] Raw Values
 
armFTCmdObj
[0] Reset button -> ft_resetCB(0)
[1-6] Set Deadband inputs 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
[7] Send Button -> ft_deadbandCB(0)
 
armFTTelObj
[1-6] Actual Sliders 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
 
armFTTel1Obj
[1-8] Actual Raw Inputs 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ