Scans the hardware, performs any averaging necessary, and computes the buffered force/torque readings. Call this function after starting buffered acquisition using StartBufferedAcquisition
In: The number of records to read.
In: One-dimensional array of doubles with enough room for each individual F/T reading, meaning there must be numRecords * 6 elements in readings.
Out: The force/torque readings, if no error occurred. If an
error occurred (non-zero return code), the values in readings are undefined.
readings[0] = fx1
readings[1] = fy1
readings[2] = fz1
readings[3] = tx1
readings[4] = ty1
readings[5] = tz1
readings[6] = fx2
...
The readings are in the current force and torque output units, which you can set using SetForceUnits and SetTorqueUnits.
0 if successful
1 if calibration not initialized ( call LoadCalibrationFile before calling this function)
2 if gauges are saturated at any point while reading the buffered data
( gauge saturation is defined as 99.5% of maximum voltage )
other: error code resulting from hardware read.
StartBufferedAcquisition | SetForceUnits | SetTorqueUnits | LoadCalibrationFile