public static Point3D GetForceReadout()
{
NeuralaceMagnetic.Controls.ForceTorqueSensorController.ForceReadout forceReadout = App.Current.ForceTorqueSensor.GetForceReadOut();
Point3D returnPoint = new Point3D(forceReadout.XForce, forceReadout.YForce, forceReadout.ZForce);
return(returnPoint);
}
public static Vector3D GetForceDirection()
{
NeuralaceMagnetic.Controls.ForceTorqueSensorController.ForceReadout forceReadout = App.Current.ForceTorqueSensor.GetForceReadOut();
Vector3D returnVector = new Vector3D(forceReadout.XForce - TareForceReading.X, forceReadout.YForce - TareForceReading.Y, forceReadout.ZForce - TareForceReading.Z);
returnVector.Normalize();
return(returnVector);
}
private static bool IsForceOverLimit(double xOffset, double yOffset, double zOffset)
{
double limit = Math.Abs(App.Current.ApplicationSettings.ForceSensorThresholdNewtons);
NeuralaceMagnetic.Controls.ForceTorqueSensorController.ForceReadout forceReadout = App.Current.ForceTorqueSensor.GetForceReadOut();
return(Math.Abs(forceReadout.XForce - xOffset) > limit ||
Math.Abs(forceReadout.YForce - yOffset) > limit ||
Math.Abs(forceReadout.ZForce - zOffset) > limit);
}
