Difference between revisions of "PD control api"

 
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- Make 2 files under grasp directory.  
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- Make 2 files under '''grasp''' directory.  
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
 
RSP.cpp
 
RSP.cpp
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- RSP.h
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- Edit '''CMakeLists.txt''' for building new cpp file
 
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add_executable (grasp main.cpp canAPI.cpp RSP.cpp)
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target_link_libraries (grasp BHand pcanbasic pthread)
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install (TARGETS grasp DESTINATION ${PROJECT_BINARY_DIR}/bin)
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- Edit each files.
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// RSP.h
 
#ifndef _ROCKSCISSORSPAPER_H
 
#ifndef _ROCKSCISSORSPAPER_H
 
#define _ROCKSCISSORSPAPER_H
 
#define _ROCKSCISSORSPAPER_H
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#endif
 
#endif
 
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- RSP.cpp
 
 
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// RSP.cpp
 
#include "rDeviceAllegroHandCANDef.h"
 
#include "rDeviceAllegroHandCANDef.h"
 
#include <BHand/BHand.h>
 
#include <BHand/BHand.h>
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- Edit '''main.cpp'''
 
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// Include Rock Scissors Paper header file.
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#include "RSP.h"
 
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</syntaxhighlight>
  
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- Add commands to use Rock Scissors Paper functions.
 
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// MainLoop()
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case '1':
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    MotionRock();
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    break;
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case '2':
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    MotionScissors();
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    break;
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case '3':
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    MotionPaper();
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    break;
 
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Try to build and run Allegro Hand. 1,2,3 keyboard button will show you Rock Scissors Paper.
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Latest revision as of 17:30, 3 July 2019

[edit] Making Rock Paper Scissors by Allegro Hand

This instruction shows you how to use PD control api by making Rock Paper Scissors with Allegro Hand.

Please download BHand_PDcontrol_tutorial.zip file and follow below steps. File:BHand PDcontrol tutorial.zip
Also, you need to install BHand library. "libBHand": Grasping_Library_for_Linux

- Make 2 files under grasp directory. 

RSP.cpp
RSP.h

- Edit CMakeLists.txt for building new cpp file 

add_executable (grasp main.cpp canAPI.cpp RSP.cpp)
target_link_libraries (grasp BHand pcanbasic pthread)
install (TARGETS grasp DESTINATION ${PROJECT_BINARY_DIR}/bin)

- Edit each files. 

// RSP.h
#ifndef _ROCKSCISSORSPAPER_H
#define _ROCKSCISSORSPAPER_H
 
void MotionRock();
void MotionScissors();
void MotionPaper();
 
#endif
// RSP.cpp
#include "rDeviceAllegroHandCANDef.h"
#include <BHand/BHand.h>
 
// ROCK-SCISSORS-PAPER(RIGHT HAND)
static double rock[] = {
	-0.1194, 1.2068, 1.0, 1.4042,
	-0.0093, 1.2481, 1.4073, 0.8163,
	0.1116, 1.2712, 1.3881, 1.0122,
	0.6017, 0.2976, 0.9034, 0.7929};
static double paper[] = {
	-0.1220, 0.4, 0.6, -0.0769,
	0.0312, 0.4, 0.6, -0.0,
	0.1767, 0.4, 0.6, -0.0528,
	0.5284, 0.3693, 0.8977, 0.4863};
static double scissors[] = {
	0.0885, 0.4, 0.6, -0.0704,
	0.0312, 0.4, 0.6, -0.0,
	0.1019, 1.2375, 1.1346,
	1.0244, 1.0, 0.6331, 1.3509, 1.0};
 
 
extern BHand* pBHand;
extern double q_des[MAX_DOF];
 
static void SetGainsRSP()
{
	// This function should be called after the function SetMotionType() is called.
	// Once SetMotionType() function is called, all gains are reset using the default values.
	if (!pBHand) return;
	double kp[] = {
		500, 800, 900, 500,
		500, 800, 900, 500,
		500, 800, 900, 500,
		1000, 700, 600, 600
	};
	double kd[] = {
		25, 50, 55, 40,
		25, 50, 55, 40,
		25, 50, 55, 40,
		50, 50, 50, 40
	};
	pBHand->SetGainsEx(kp, kd);
}
 
void MotionRock()
{
	for (int i=0; i<16; i++)
		q_des[i] = rock[i];
	if (pBHand) pBHand->SetMotionType(eMotionType_JOINT_PD);
	SetGainsRSP();
 
}
 
void MotionScissors()
{
	for (int i=0; i<16; i++)
		q_des[i] = scissors[i];
	if (pBHand) pBHand->SetMotionType(eMotionType_JOINT_PD);
	SetGainsRSP();
}
 
void MotionPaper()
{
	for (int i=0; i<16; i++)
		q_des[i] = paper[i];
	if (pBHand) pBHand->SetMotionType(eMotionType_JOINT_PD);
	SetGainsRSP();
}

- Edit main.cpp 

// Include Rock Scissors Paper header file.
#include "RSP.h"

- Add commands to use Rock Scissors Paper functions. 

// MainLoop()
case '1':
    MotionRock();
    break;
case '2':
    MotionScissors();
    break;
case '3':
    MotionPaper();
    break;

Try to build and run Allegro Hand. 1,2,3 keyboard button will show you Rock Scissors Paper.





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