/allegroHand

Redis driver for allegro hand

Primary LanguageC++GNU Lesser General Public License v3.0LGPL-3.0

Allegro Hand Linux Project

Adapted from https://github.com/simlabrobotics/allegro_hand_linux

REDIS Driver: redis key "allegro::command"

Build and Run: "grasp"

Note: This project is for PEAK System USB CAN chardev interface: PCAN-USB

  1. Download, build, and install PCAN-USB driver for Linux: libpcan : http://www.peak-system.com/fileadmin/media/linux/index.htm

tar -xzvf peak-linux-driver-x.x.tar.gz cd peak-linux-driver-x.x make NET=NO sudo make install

  1. Download, build, and install PCAN-Basic API for Linux: libpcanbasic : http://www.peak-system.com/PCAN-USB.199.0.html?&L=1

tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz cd PCAN_Basic_Linux-x.x.x/pcanbasic make sudo make install

  1. Download, build, and install Grasping Library for Linux, "libBHand": Grasping_Library_for_Linux : http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Grasping_Library_for_Linux

unzip LibBHand_{32|64}.zip cd libBHand_{32|64} sudo make install sudo ldconfig

  1. Build Allegro Hand Project using cmake "out of source build" style.

unzip AllegroHand.zip cd AllegroHand mkdir build cd build cmake .. make make install

Note: You will need to replace the encoder offsets and directions and the motor directions in the array at the top of the main.cpp file. These offsets can be found on the offsets and directions table on your Allegro Hand Wiki page (front page - scroll down): Allegro_Hand_DML_Info

Note: Using cmake "out of source build" style, the entire build tree is created under "build" directory so that you can delete "build" directory without worrying about the sources.

  1. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)

  2. Start the grasping program: "grasp"

bin/grasp

  1. Power on Allegro Hand.

  2. Use keyboard command to move Allegro Hand!!!!

================================================ vikranth-vikranth@stanford.edu