OnRobot RG6 - Page 40

Operation
40
Function name:
OR_RG2FT_pOffsVal(valueL, valueR)
Name
Type
Description
Input:
valueL
integer
Left proximity custom offset value in mm
valueR
integer
Right proximity custom offset value in mm
Output:
-
-
-
Description:
Sets custom offset values for proximity sensors.
Example:
leftOffset = 10
rightOffset = 15
CallProc OR_RG2FT_pOffsVaL(leftOffset, rightOffset)
Function name:
OR_RG2FT_hexZero()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Zeroing the HEX sensors (current force/torque values will be used as offset).
Example:
CallProc OR_RG2FT_hexZero()
Function name:
OR_RG2FT_hexUnzero()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Unzero the values of the HEX sensors (offset will be reset to zero).
Example:
CallProc OR_RG2FT_hexUnzero()
Function name:
OR_RG2FT_getLProx()
Name
Type
Description
Input:
-
-
-
Output:
-
integer
Left proximity sensor measured distance in mm
Description:
Get left proximity sensor value.
Example:
CallPorc lProxVal = OR_RG2FT_getLProx()