{ "info": { "author": "Tyson Boer", "author_email": "ty@unutilized.net", "bugtrack_url": null, "classifiers": [ "Intended Audience :: Manufacturing", "Intended Audience :: Science/Research", "License :: OSI Approved :: MIT License", "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", "Programming Language :: Python :: 2", "Programming Language :: Python :: 3", "Topic :: Scientific/Engineering" ], "description": "atiiaftt - ATI-IA force-torque transforms\n===============================================================\n\nPython interface to ATI-IA force-torque transform (ATIDAQ) C library, v1.0.7. For use with ATI Industrial Automation force-torque sensors.\n\nThis package does not read from hardware. Another package, such as NI-DAQmx, \nmust be used for that purpose.\n\nATIDAQ C Library is available at https://www.ati-ia.com/library/software/daq_ft/ATIDAQ%20C%20Library.zip\n\nInstallation\n------------------------\n\npip install atiiaftt\n\nDependencies\n------------------------\n\nCFFI and platform appropriate build tools are required to build the C source\nthat is included with the package. \n\nFor Linux distributions, install the developer package group.\n\nFor Windows, see https://wiki.python.org/moin/WindowsCompilers\n\nDocumentation\n------------------------\n\nModule help for the python classes is available via docstrings. Documentation\nfor the wrapped functions is available in `ATIDAQ_c_lib/readme.txt`\n\n\nUsage examples\n------------------------\n\nHigh level usage is as follows:\n\n1. `import atiiaftt`\n2. Create an instance of the `atiiafft.FTsensor` class\n3. Load calibration data, either passing the calibration file path as a string during class instantiation or as a parameter while calling `instance.createCalibration('./FT18766cal')`.\n4. Optionally, set the tool transform, bias values and units as needed, eg)\n\t- `instance.setToolTransform([0,0,20,45,0,0],atiiaftt.FTUnit.DIST_MM,atiiaftt.FTUnit.ANGLE_DEG)`\n\t- `instance.bias([0.254,-1.027,0.025,0.7422.0.9302,-0.230,0.082])`\n5. Call the force-torque conversion function: `instance.convertToFt([0.042,1.004,0.952,-0.235,0.091,1.091,0.054])`; this returns the forces and torques as a list `[F.x,F.y,F.z,T.x,T.y,T.z]`. 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