Metadata-Version: 2.1
Name: atiiaftt
Version: 0.1.1
Summary: CFFI wrap of ATI-IA force-torque sensor transform c library
Home-page: https://github.com/shayden--/atiiaftt
Author: Tyson Boer
Author-email: ty@unutilized.net
License: MIT
Download-URL: https://github.com/shayden--/atiiaftt/tarball/0.1.1
Description: atiiaftt - ATI-IA force-torque transforms
        ===============================================================
        
        Python interface to ATI-IA force-torque transform (ATIDAQ) C library, v1.0.7. For use with ATI Industrial Automation force-torque sensors.
        
        This package does not read from hardware. Another package, such as NI-DAQmx, 
        must be used for that purpose.
        
        ATIDAQ C Library is available at https://www.ati-ia.com/library/software/daq_ft/ATIDAQ%20C%20Library.zip
        
        Installation
        ------------------------
        
        pip install atiiaftt
        
        Dependencies
        ------------------------
        
        CFFI and platform appropriate build tools are required to build the C source
        that is included with the package. 
        
        For Linux distributions, install the developer package group.
        
        For Windows, see https://wiki.python.org/moin/WindowsCompilers
        
        Documentation
        ------------------------
        
        Module help for the python classes is available via docstrings. Documentation
        for the wrapped functions is available in `ATIDAQ_c_lib/readme.txt`
        
        
        Usage examples
        ------------------------
        
        High level usage is as follows:
        
        1. `import atiiaftt`
        2. Create an instance of the `atiiafft.FTsensor` class
        3. Load calibration data, either passing the calibration file path as a string during class instantiation or as a parameter while calling `instance.createCalibration('./FT18766cal')`.
        4. Optionally, set the tool transform, bias values and units as needed, eg)
        	- `instance.setToolTransform([0,0,20,45,0,0],atiiaftt.FTUnit.DIST_MM,atiiaftt.FTUnit.ANGLE_DEG)`
        	- `instance.bias([0.254,-1.027,0.025,0.7422.0.9302,-0.230,0.082])`
        5. 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]`. The last transformed values are stored in the instance variable `instance.ft_vector` for later access.
        
        CFFI and python class examples found in 'atiiaftt/samples/ftconvert.py'
        
Keywords: ati,force,torque,sensor,instrumentation
Platform: UNKNOWN
Classifier: Intended Audience :: Manufacturing
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: POSIX :: Linux
Classifier: Operating System :: Microsoft :: Windows
Classifier: Programming Language :: Python :: 2
Classifier: Programming Language :: Python :: 3
Classifier: Topic :: Scientific/Engineering
Description-Content-Type: text/x-rst
