QNjeason / V-REP-Simulation-Projects

Learning Robotics by Playing with V-REP

V-REP-Simulation-Projects

Learning Robotics by Playing with V-REP

The right way to use force sensor in V-REP （4 steps totally, the step 3 is crucial to guarantee the validity of force/torque data）

1. get force sensor handle

[res,forcesensor] = vrep.simxGetObjectHandle(id,'Force_sensor',vrep.simx_opmode_oneshot_wait);

2. data streaming

vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_streaming);

3. read the first available data

while (1)  
   [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer);
   if res == vrep.simx_return_ok && state == 1
      break;
   else
      disp('force sensor data is not available!');
      pause(0.1);
   end
end

4. read force data periodically in control loop

while vrep.simxGetConnectionId(id)~=-1
   [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer);
end