Force Torque Sensor: Offset in ARMAR-DE sensor board overwritten?
In the files
- https://git.h2t.iar.kit.edu/sw/armarx-integration/devices/ethercat/-/blob/main/source/devices/ethercat/ft_sensor_board/armarde/Data.cpp#L100:
- https://git.h2t.iar.kit.edu/sw/armarx-integration/devices/ethercat/-/blob/main/source/devices/ethercat/ft_sensor_board/armar6/Data.cpp#L98
There is the following code:
-
Eigen::Vector6i rawForceTorque
is a member variable - The
rtReadSensorValues()
contains the following code:
Eigen::Vector6i rawForceTorqueUnordered;
rawForceTorqueUnordered[0] = outputs->dmsAdc1Value1;
rawForceTorqueUnordered[1] = outputs->dmsAdc1Value2;
rawForceTorqueUnordered[2] = outputs->dmsAdc1Value3;
rawForceTorqueUnordered[3] = outputs->dmsAdc2Value4;
rawForceTorqueUnordered[4] = outputs->dmsAdc2Value5;
rawForceTorqueUnordered[5] = outputs->dmsAdc2Value6;
if (firstRun)
{
firstRun = false;
// offset = rawForceTorque;
}
rawForceTorque -= offset;
rawForceTorque[permutation[0]] = rawForceTorqueUnordered[0];
rawForceTorque[permutation[1]] = rawForceTorqueUnordered[1];
rawForceTorque[permutation[2]] = rawForceTorqueUnordered[2];
rawForceTorque[permutation[3]] = rawForceTorqueUnordered[3];
rawForceTorque[permutation[4]] = rawForceTorqueUnordered[4];
rawForceTorque[permutation[5]] = rawForceTorqueUnordered[5];
Note: rawForceTorque
is completely overwritten by the values from rawForceTorqueUnordered
after rawForceTorque -= offset
.
=> I presume that offset
cannot have an effect this way?