Allegro Hand V4 - Redis Driver

This driver interfaces with the Allegro Hand through Redis (https://redis.io/)
Note that this project works only for PEAK System CAN interface (chardev) for USB: PCAN-USB

Resources:

Original Git Repo: https://github.com/simlabrobotics/allegro_hand_linux_v4
User manual: http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:V4_AllegroHandUsersManual_1.1.pdf

Inertial Frame and Joints

Required libraries

Install necessary packages.

sudo apt-get install cmake gcc g++ libpopt-dev libboost-all-dev libjsoncpp-dev redis-server libhiredis-dev libeigen3-dev

Download, build, and install PCAN-USB driver for Linux: peak-linux-driver. Note: v8.8.0 tested.

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

Download, build, and install PCAN-Basic API for Linux: peak-basic-api. Note: v4.2.0 is tested.

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

Download, build, and install Grasping Library for Linux, "libBHand": Grasping_Library_for_Linux

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

Build the driver: "grasp"

Build allegroHand_v4 Project using cmake "out of source build" style.

cd allegroHand_v4
mkdir build && cd build && cmake ..
make

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
The driver executable will be found in bin/

Run the Allegro Hand:

Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
Launch redis driver by typing the following command in any terminal: redis-server
Start the grasping program: "grasp"

cd bin/
./grasp

Power on Allegro Hand
Start a redis client in a new terminal: redis-cli
Use redis keys to move Allegro Hand

manips-sai-org/allegroHand_v4