ft300python
Summary
Python module to obtain sensor values from ROBOTIQ FT300 Force Torque Sensor.
See an official manual for details of FT300:
Tested on Windows 10, Ubuntu 20.04
Installation
pip install ft300python
Dependencies
- pyserial
- pymodbus
Usage
See test_ft300_modbusrtu.py and test_ft300_stream.py in examples/
Modbus RTU version (About 30Hz data acquisition):
from ft300python.ft300_modbusrtu import FT300ModbusRTU
port = "COM3" # "/dev/ttyUSB0" for example in Ubuntu
ft_modbusrtu = FT300ModbusRTU(port, timeout=1, zero_reset=False)
print("production year", ft_modbusrtu.get_production_year())
print("serial number", ft_modbusrtu.get_serial_number())
print("acceralation", ft_modbusrtu.get_acceralation())
print("force torque", ft_modbusrtu.get_force_torque())
ft_modbusrtu.reset_zero_force_torque()
print("reset zero force torque with current values")
print("force torque", ft_modbusrtu.get_force_torque())
Data Stream version (About 100Hz data acquisition):
from ft300python.ft300_stream import FT300Stream
port = "COM3" # "/dev/ttyUSB0" for example in Ubuntu
ft_stream = FT300Stream(port, timeout=1, zero_reset=True)
while True:
ft_values = ft_stream.get_force_torque()
print(ft_values)
