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matlab code for udpport instead of udp #2

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matlab code for udpport instead of udp #2

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0de388f
v2 for udpport instead of udp
geunee20 Feb 10, 2022
d1276ec
updated for get the most recent data as possible, reduce error
geunee20 Feb 11, 2022
071068d
constant value for stability
geunee20 Feb 11, 2022
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15 changes: 9 additions & 6 deletions netFT_getFreshData.m
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Original file line number Diff line number Diff line change
@@ -1,9 +1,12 @@
function [ ftdata ] = netFT_getFreshData( u, ft_offset )
%get the most recent force/torque data from the sensor and return after
%offset compensation
% get the most recent force/torque data from the sensor and return after
% offset compensation
% 1:4 = rdt_sequence / 5:8 = ft_sequence / 9:12 = status
% 13:16 = Fx / 17:20 = Fy / 21:24 = Fz
% 25:28 = Tx / 29:32 = Ty / 33:36 = Tz

flushinput(u)
data = fscanf(u);
ftdata = netFT_DataConversion(data)-ft_offset;
end
flush(u, "input")
data = read(u, 36);
ftdata = netFT_DataConversion(data) - ft_offset;

end
8 changes: 4 additions & 4 deletions netFT_getOffset.m
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
%get offsets and return as 1x6 vector

ft_offset = zeros(1,6);
for i = 1:numOffsetSamples
ft_offset = ft_offset + netFT_getFreshData(u,0)/numOffsetSamples;
end
end
for i = 1:numOffsetSamples
ft_offset = ft_offset + netFT_getFreshData(u,0) / numOffsetSamples;
end

end
8 changes: 2 additions & 6 deletions netFT_openConnection.m
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Original file line number Diff line number Diff line change
@@ -1,9 +1,5 @@
function [ u ] = netFT_openConnection( )
%Open and return a UDP connection to the Sensor

netFT = '192.168.1.1';
port = 49152;
u = udp(netFT,port);
fopen(u);
end

u = udpport('byte', 'IPV4');
end
8 changes: 5 additions & 3 deletions netFT_startStreaming.m
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Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
function [ ] = netFT_startStreaming( u )
%send the start streaming command
% send the start streaming command

startRequest = ['12';'34';'00';'02';'00';'00';'00';'00'];
startCommand = hexlistToString(startRequest);
fwrite(u, startCommand) % send message to start rdt streaming
end
netFT = "192.168.1.1";
port = 49152;
write(u, startCommand, "string", netFT, port) % send message to start rdt streaming

end
6 changes: 4 additions & 2 deletions netFT_stopStreaming.m
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@

stopRequest = ['12';'34';'00';'00';'00';'00';'00';'00'];
stopCommand = hexlistToString(stopRequest);
fwrite(u, stopCommand) % send message to stop rdt streaming
end
netFT = "192.168.1.1";
port = 49152;
write(u, stopCommand, "string", netFT, port) % send message to stop rdt streaming

end