https://github.com/engnadeau/robotiq-ft-java

An unofficial Java package for cross-platform serial communication with a Robotiq FT Sensor
https://github.com/engnadeau/robotiq-ft-java

communication-protocol java osx robot robotics robotiq-ft-sensor sensor serial-ports usb windows

Last synced: 4 months ago
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An unofficial Java package for cross-platform serial communication with a Robotiq FT Sensor

• Host: GitHub
• URL: https://github.com/engnadeau/robotiq-ft-java
• Owner: engnadeau
• License: mit
• Created: 2016-09-13T18:36:50.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2022-09-19T01:30:25.000Z (over 2 years ago)
• Last Synced: 2024-10-05T00:08:47.042Z (4 months ago)
• Topics: communication-protocol, java, osx, robot, robotics, robotiq-ft-sensor, sensor, serial-ports, usb, windows
• Language: Java
• Homepage: https://github.com/nnadeau/robotiq-ft-java
• Size: 1.74 MB
• Stars: 2
• Watchers: 2
• Forks: 1
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • Contributing: .github/CONTRIBUTING.md
  • License: LICENSE

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Robotiq FT Sensor - Java



An unofficial Java package for cross-platform serial communication with a Robotiq FT Sensor



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## Communication Protocol

The communication protocol (and basis for `config.properties`) for using a FT Sensor can be found [here](http://support.robotiq.com/pages/viewpage.action?pageId=9601256).

## Usage

### Tested Platforms

- Windows 10 x64

- OSX 10.11.5 x64

### Quick Tests

- Run `SerialUtilities.java` to list available serial ports (sensor should be connected and seen here)

- Update `comm_port` in `config.properties` to the proper serial port (e.g., `COM3` for Windows, `cu.usbserial-FTXU0M1B` for OSX)

- Run `RobotiqFtMaster.java` for a 20 second burst of data printed to the console

### Example

```java

public static void main(String[] args) {

    Logger.info("Running simple RobotiqFT connection test");

    RobotiqFtMaster robotiqFtMaster = new RobotiqFtMaster();

    try {

        robotiqFtMaster.connect();

        int maxTime = 20;

        Logger.info(String.format("Reading from sensor for %d seconds", maxTime));

        long startTime = System.currentTimeMillis();

        while ((System.currentTimeMillis() - startTime) < (maxTime * 1000)) {

            try {

                System.out.println(Arrays.toString(robotiqFtMaster.getCompleteMeasure()));

            } catch (ModbusException e) {

                Logger.error(e);

            }

        }

    } catch (Exception e) {

        Logger.error(e);

    }

}

```