1 unstable release
0.1.0 | Feb 9, 2021 |
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#1520 in Hardware support
22KB
337 lines
leptrino-force-torque-sensor
Unofficial device driver for Leptrino force torque sensors.
Line up of Leptrino sensor is available here.
Inspired the works of ROS package (It is written in C/C++ and for ROS).
Example
use leptrino_force_torque_sensor::{LeptrinoSensor, Product};
let mut sensor = LeptrinoSensor::open(Product::Pfs055Ya251U6, "/dev/ttyUSB0").unwrap();
let wrench = sensor.update().unwrap();
println!("{:?}", wrench);
Dependency under Linux environment
libudev-dev
is required under Linux environment. Please install it by
$ sudo apt install libudev-dev
Setup
It may be required to customize udev rules if you use usb-connected sensors.
This shell script can be useful for customize (see the file in detail).
Run a demo for an usb-connected sensor
- Clone this repository.
- Setup udev rule by using this shell script.
- Connect your sensor.
- Run the example by
cargo run --example demo
License
MIT
Note
I tested this crate only by Pfs055Ya251U6 sensor because I have no other Leptrino sensor.
Dependencies
~2–3MB
~59K SLoC