Contents

CAN Communication Tutorial

Please download CAN_tutorial.zip file and follow below steps. File:CAN tutorial.zip
CAN_tutorial.zip contains CMakeList.txt, README and grasp directory.

This tutorial will show how to open & close CAN communication. Also, how to get position data and send pwm to operate Allegro Hand. You will follow step by step with adding sample codes. Source code assumes you have a peak-systems pcan to usb adapter so if you are not using PEAK CAN device, please check your own device CAN api and channel.

simple diagram

Below picture shows a structure of a sample program for this tutorial.
Tutorial .png

steps


build & run

cd {The directory where you extracted CAN_tutorial.zip.}
mkdir build
cd build
cmake ..
make install
./bin/grasp






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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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