Sophiar2/tests/data/optoforce_daq_config.json

{
  "listen_port": 5277,
  "variable_list": [
    {
      "name": "flange_force",
      "type": "scalarxyz_obj"
    },
    {
      "name": "flange_torque",
      "type": "scalarxyz_obj"
    }
  ],
  "object_list": [
    {
      "type": "optoforce_daq",
      "name": "optoforce_daq",
      "start_config": {
        "com_port": "/dev/ttyACM0",
        "device_type": 3,
        "force_output_name": "flange_force",
        "torque_output_name": "flange_torque",
        "force_resolution": 0.01,
        "torque_resolution": 0.001,
        "report_frequency": 100,
        "filter_type": 4
      }
    },
    {
      "type": "scalarxyz_obj_watcher",
      "name": "force_watcher",
      "start_config": {
        "minimum_interval_ms": 500,
        "variable_name": "flange_force"
      }
    },
    {
      "type": "scalarxyz_obj_watcher",
      "name": "torque_watcher",
      "start_config": {
        "minimum_interval_ms": 500,
        "variable_name": "flange_torque"
      }
    },
    {
      "type": "empty_object",
      "name": "all",
      "dependencies": [
        "optoforce_daq",
        "force_watcher",
        "torque_watcher"
      ]
    }
  ]
}