nicotouch

The nicotouch package contains classes to read the optoforce sensors of the NICO robot.

optoforce

The optoforce class allows access to the optoforce sensor data.

class nicotouch.optoforcesensors.optoforce(ser_number=None, cache_frequency=None)

Bases: object

_scan_ports(ser_number=None)

Scans serial ports for OptoForce device with given serial number and returns the port. Returns the first sensor found if no serial number is given.

Parameters

ser_number (str) – Serial number of the sensor (optional)

Returns

Port of OptoForce sensor with specified serial number (or first one found if ser_number is None)

Return type

str

_worker_thread()

get_sensor_all()

get_sensor_array()

get_sensor_string()

get_sensor_values()

get_sensor_values_from_array(seq)

get_sensor_values_hex()

get_sensor_values_m()

get_sensor_values_raw()

OptoforceMultichannel

The OptoforceMultichannel class allows access to the data of optoforce devices with multiple sensors.

class nicotouch.OptoforceMultichannel.OptoforceMultichannel(ser_number=None, cache_frequency=None)

Bases: object

OptoforceMultichannel allows access to multiple OptoForce sensors Connected to the same device

_scan_ports(ser_number=None)

Scans serial ports for OptoForce device with given serial number and returns the connection. Returns the first sensor found if no serial number is given.

Parameters

ser_number (str) – Serial number of the sensor (optional)

Returns

Connected OptoforceDriver with specified serial number (or any if ser_number is None)

Return type

_nicotouch_internal.optoforce.OptoforceDriver

get_sensor_values()

Returns latest newton sensor readings for each channel

Returns

“time”, “count”, “status” and newton x,y,z “forces” for each channel (see global OptoforceMultichannel.keys for channel keys)

Return type

dict

get_sensor_values_raw()

Returns latest raw sensor readings for each channel

Returns

“time”, “count”, “status” and raw x,y,z “forces” for each channel (see global OptoforceMultichannel.keys for channel keys)

Return type

dict

update_cache()

Collects new sensor values from the device.

nicotouch.OptoforceMultichannel._cache_thread(object, frequency)

Thread that caches sensor values at defined frequency. Only pass weakrefs! If object is not a weakref, it may introduce memory leaks!