BB.Ufactory.Message.Wrench (bb_ufactory v0.1.0)

Force-torque wrench reading from the xArm F/T sensor.

Published by BB.Ufactory.Controller to [:sensor, controller_name, :wrench] when the real-time report frame (port 30003) contains ft_filtered data — i.e. when the F/T sensor is enabled and the arm firmware returns 135+ byte frames.

Re-published by BB.Ufactory.Sensor.ForceTorque to [:sensor | sensor_path] for consumption by the application layer.

Fields

fx, fy, fz — force components in Newtons in the sensor frame
tx, ty, tz — torque components in Newton-metres in the sensor frame

Values are taken from the ft_filtered field of the real-time report (bytes 87–110); the arm applies its internal filter before pushing these values.

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Ufactory.Message.Wrench{
  fx: float(),
  fy: float(),
  fz: float(),
  tx: float(),
  ty: float(),
  tz: float()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}