Difference between revisions of "3. Interfacing with the Actual Allegro Hand"

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==Lua File==
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==AHAS Lua File==
  
 
Navigate to the Allegro Hand Application Studio (AHAS) controls directory and locate the file called ''ERHAND_NI-CAN_LEFT''.
 
Navigate to the Allegro Hand Application Studio (AHAS) controls directory and locate the file called ''ERHAND_NI-CAN_LEFT''.
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|}
 
|}
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For this tutorial, I am using NI can and a left Allegro Hand so I will leave this line as-is.
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Next we must link this new LUA file to the ''control_AllegroHand.xdl'' we made in tutorial 1.
 +
 +
<pre>
 +
createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
 +
setControlAlgorithm("RTController", "controls/control_ERHandL.xdl")
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</pre>
 +
 +
These two lines must be changed to the following so that the AHAS can evoke our new controller.
 +
 +
<pre>
 +
createController("RTController", "RTSys") --, 1, "controls/control_AllegroHand.xdl", "")
 +
setControlAlgorithm("RTController", "controls/control_AllegroHandL.xdl")
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</pre>
 +
 +
Now move the file ''ALLEGROHAND1_ACTUAL.lua'' from the ''Desktop'' back into the ''controls'' directory.
 +
 +
==AHAS Shortcut==
 +
 +
Make a copy of the AHAS shortcut on the ''Desktop'' created in tutorial 1. Right click the shortcut and click ''Properties''. Change the target as follows:
 +
 +
<pre>
 +
Original Target: "C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\Allegro.exe" controls\ALLEGROHAND1.lua 
 +
New Target:      "C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\Allegro.exe" controls\ALLEGROHAND1_ACTUAL.lua 
 +
</pre>
 +
 +
Close the ''Properties'' window. Connect the Allegro Hand to your computer's CAN interface and turn it on.
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 +
'''''Note:''' Make sure to straighten out all of the fingers prior to running AHAS.''
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 +
Double-click the the shortcut to test it out. An Allegro Hand simulator should load and immediately start controlling the real hand joints in the sinusoidal fashion.

Revision as of 16:14, 2 November 2012

In the last tutorial, 2. Allegro Hand Joint Position Control, we developed a controller that commands the joints in a sinusoidal fashion. While any motion can be established at this point, we will show this same motion in the actual Allegro Hand to demonstrate the ease of developing a controller for use with both the virtual and actual Allegro Hand systems.

This tutorial assumes you have completed both of the previous tutorials, 1. Setup: DLL Project, Control XDL & the AHAS Lua file and 2. Allegro Hand Joint Position Control. Also, this tutorial assumes that you have one of the four stock supported CAN devices


Contents

AHAS Lua File

Navigate to the Allegro Hand Application Studio (AHAS) controls directory and locate the file called ERHAND_NI-CAN_LEFT. 

C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\controls

Find the Lua file called ERHAND_NI-CAN_LEFT.lua and copy it to your Desktop. Rename the file ALLEGROHAND1_ACTUAL.lua. Open ALLEGROHAND1_ACTUAL.lua to see the following code. 

 function Awake()
 	print("Begin Allegro Hand")
 	version()
 
	-- If you just want to simulate, comment "rtTimer" and "createRTSystem"
	-- and uncomment loadModel
	-- to change CAN interface, change "createRTSystem" line
 
 	--loadModel("hand", "models/Etc/ERHand/ERHand.aml")
 	rtTimer = createTimer("RTTimer", rTimer_MODE_REAL_WIN32)
 	print(rtTimer)
 	createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer)
 	createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
 	setControlAlgorithm("RTController", "controls/control_ERHandL.xdl")
 	--setNominalSystem("HandController", "")
 end
 
  function Update()
  	-- body
  end
 
 BH_READY = RCMD_USER + 2
 CAN_CMD_RESET_ENC = 4
 
 
  function OnGUI()
 
    if (GUIButton(5, 5, 120, 25, "On")) then
      onDevice("RTSys", "COMM")
      sendCommand("RTController", RESERVED_CMD_SERVO_ON)
    end
 
    if (GUIButton(130, 5, 120, 25, "Off")) then
      --offDevice("RTSys", "COMM")
      --sendCommand("RTController", RESERVED_CMD_SERVO_OFF)
	  sendCommand("RTController", RCMD_USER + 0)
	  print("None")
    end
 
  	if (GUIButton(5, 35, 120, 25, "Home")) then
  		sendCommand("RTController", RCMD_GO_HOME, VK_H)
  		print("Home button pressed")
  	end
  	if (GUIButton(130, 35, 120, 25, "Ready")) then
  		sendCommand("RTController", BH_READY, VK_R)
  		print("Ready button pressed")
  	end
 
    if (GUIButton(5, 65, 120, 25, "GRASP 3")) then
  		sendCommand("RTController", RCMD_USER + 3, VK_G)
  		print("Grasp 3 button pressed")
  	end
    if (GUIButton(130, 65, 120, 25, "GRASP 4")) then
      sendCommand("RTController", RCMD_USER + 4)
    end
 
  	if (GUIButton(5, 95, 120, 25, "PINCHING(I)")) then
  		sendCommand("RTController", RCMD_USER + 5, VK_P)
  		print("Pinching button pressed")
  	end
    if (GUIButton(130, 95, 120, 25, "PINCHING(M)")) then
      sendCommand("RTController", RCMD_USER + 6)
    end
 
    if (GUIButton(5, 125, 245, 25, "Envelop")) then
      sendCommand("RTController", RCMD_USER + 8)
      print("Envelop")
    end
 
    if (GUIButton(5, 155, 245, 25, "Show Off")) then
      sendCommand("RTController", RCMD_USER + 50)
      print("Show Off")
    end
 
 
	if (GUIButton(5, 185, 120, 25, "Test Encoders")) then
 
	  for i=1,16 do
		encName = "enc"..i
 
		if i == 1 then
			print(" ")
			print("Finger 1")
		end
 
		if i == 5 then
			print(" ")
			print("Finger 2")
		end
 
		if i == 9 then
			print(" ")
			print("Finger 3")
		end
 
		if i == 13 then
			print(" ")
			print("Finger 4")
		end
 
		deviceCommand("RTSys", encName, CAN_CMD_RESET_ENC)
		--print("Test Encoders")
	  end
 
    end
 
	if (GUIButton(130, 185, 120, 25, "Test Motors")) then
      sendCommand("RTController", RCMD_USER + 99)
      print("Test Motors")
    end
 
 
    width = (ScreenWidth-10)/4
    --print(width)
    top = ScreenHeight - 35*5;
 
 
    for i=1,4 do
      for j=1,4 do
        context = "Finger"..i.."_Link"..j
        pos = jointPosition("RTSys", context)
        context=context..string.format(": %.3f",math.deg(pos))
        GUILabel(10 + (i-1)*width, top + 35*(j-1), width-10, 15, context)
        GUISlider(10 + (i-1)*width, top+ 15 + 35*(j-1), width-10, 16, math.deg(pos), -180, 180)
      end
    end
 
 
  end

The line below loads the NI-CAN interfacing Allegro Hand model. We must change this to reflect the hand (left/right) and the CAN interface (NI/Softing/ESD/Kvaser) that are using. Please refer to the following table to determine with what model you must replace "ERHandL_RT_NICAN.aml". 

createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer)
NI CAN
Softing
Kvaser
ESD
Right
 ERHand_RT_NICAN.aml ERHand_RT_SOFTING.aml ERHand_RT_KvaserCAN.aml ERHand_RT_ESDCAN.aml
Left
 ERHandL_RT_NICAN.aml ERHandL_RT_SOFTING.aml ERHandL_RT_KvaserCAN.aml ERHandL_RT_ESDCAN.aml

For this tutorial, I am using NI can and a left Allegro Hand so I will leave this line as-is.

Next we must link this new LUA file to the control_AllegroHand.xdl we made in tutorial 1. 

createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
setControlAlgorithm("RTController", "controls/control_ERHandL.xdl")

These two lines must be changed to the following so that the AHAS can evoke our new controller. 

createController("RTController", "RTSys") --, 1, "controls/control_AllegroHand.xdl", "")
setControlAlgorithm("RTController", "controls/control_AllegroHandL.xdl")

Now move the file ALLEGROHAND1_ACTUAL.lua from the Desktop back into the controls directory.

AHAS Shortcut

Make a copy of the AHAS shortcut on the Desktop created in tutorial 1. Right click the shortcut and click Properties. Change the target as follows: 

Original Target: "C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\Allegro.exe" controls\ALLEGROHAND1.lua  
New Target:      "C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\Allegro.exe" controls\ALLEGROHAND1_ACTUAL.lua

Close the Properties window. Connect the Allegro Hand to your computer's CAN interface and turn it on.

Note: Make sure to straighten out all of the fingers prior to running AHAS.

Double-click the the shortcut to test it out. An Allegro Hand simulator should load and immediately start controlling the real hand joints in the sinusoidal fashion.





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