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amti

README.md

AMTI

Dependencies

  • YARP
  • AMTI drivers (Windows only).

Device architecture

The current YARP driver implementation is composed of two layers. The first layer (amtiplatforms) directly interfaces with the AMTI drivers. It opens a YARP device implementing the (custom) interface IMultipleForcePlates. This device exposes all the force platforms connected to the system.

The second layer (amtiforceplate) interact the the first layer and exposes an AnalogSensor interface. One instance of amtiforceplate must be created for each force plate, and properly configured with the platform amplifier identifier.

For example, if two plates are present in the system, one and only one amtiplatforms has to be created, while two amtiforceplate must be created and attached to the amtiplatforms device.

See the example of yarprobotinterface_amti.xml file

Setup the environment

In order to use the force platforms, the following steps must be performed before configuring with CMake and building the YARP device:

  1. Create the environment variable AMTIDriver_ROOT pointing to the root of the SDK folder.
    This will make the SDK visible to the build process.
  2. Add the SDK folder the PATH.