Difference between revisions of "Getting Started"

Revision as of 11:36, 3 October 2012

System Requirements

Allegro Application Studio Installation

CAN Interface Installation

To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:

National Instruments (NI) USB-8473s High-Speed CAN
Softing CAN-AC2-PCI
Kvaser PCIcan 4xHS
ESD CAN-PCI/266

All four of these CAN interface solutions can be purchased from SimLab along with the Allegro Hand.
Product and driver information for each of these four interfaces can be found below. Note: Other CAN interfaces may also be used but communication must be configured by the user.

NI USB-8473s High-Speed CAN

1-Port, High-Speed CAN, USB Interface With Synchronization
NI USB-8473s Produt Page: [1]
NI USB-8473s Data Sheet: [2]

From NI's product description:

Hi-Speed USB-compliant, bus-powered
CAN 2.0A (11-bit) and extended CAN 2.0B (29-bit) arbitration ID
Philips SJA1000 CAN controller and ISO 11898 physical layer
Philips TJA1041 high-speed CAN transceiver
Hardware timestamping: 1 µs reading resolution
Log 100% bus loads at 1 Mbits/s with no dropped frames

Softing CAN-AC2-PCI

Directions & Offsets

Allegro Application Studio

communication configuration through roboticslab/bin/controls/ERHand_RT.lua

```
 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/1_ERHand_RT_NICAN.aml", "RTSys", rtTimer)

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

 	setControlAlgorithm("RTController", "controls/control_ERHand.xdl")

 	--setNominalSystem("HandController", "")

```
 end
```

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@@ Line 16: / Line 16: @@
 ===NI USB-8473s High-Speed CAN===
 '''1-Port, High-Speed CAN, USB Interface With Synchronization'''<br>
-[http://sine.ni.com/nips/cds/view/p/lang/en/nid/203385 NI Product Page]<br>
+NI USB-8473s Produt Page: [http://sine.ni.com/nips/cds/view/p/lang/en/nid/203385]<br>
+NI USB-8473s Data Sheet: [http://sine.ni.com/nips/cds/view/p/lang/en/nid/203385]<br>
 <br>
 ''From NI's product description:''