Difference between revisions of "4. AHAS Buttons and BHand Library Motions"

(→‎ALLEGROHAND1_ACTUAL.lua)
Line 1: Line 1:
−
In the last few tutorials, we verified created a control algorithm project and verified our setup by performing a simple user-defined motion on both the virtual and actual Allegro Hands. We did all this ignoring the features of Allegro Hand Application Studio (AHAS) as a robust GUI interface for controlling the hand and visualizing certain data.
+
In the last few tutorials, we created a control algorithm project and verified our setup by performing a simple user-defined motion on both the virtual and actual Allegro Hands. We did all this ignoring the features of Allegro Hand Application Studio (AHAS) as a robust GUI interface for controlling the hand and visualizing certain data.
  
 
In this tutorial, we will take advantage of '''buttons''' in AHAS and use them to invoke our own algorithms and those supplied along with AHAS in the BHand Library.
 
In this tutorial, we will take advantage of '''buttons''' in AHAS and use them to invoke our own algorithms and those supplied along with AHAS in the BHand Library.
Line 5: Line 5:
 
==AHAS Buttons==
 
==AHAS Buttons==
  
−
In your AHAS ''bin/controls'' directory, locate the file ''ALLEGROHAND1.lua''. This is the file that we made in Tutorial 1 which links to out new controller. Let's open up ''ALLEGROHAND1.lua'' and take a look.
+
Let's open up ''myAHController.lua'' and take a look.<br>
−
 
+
This is the file that we made in Tutorial 1 which links to out new controller.<br>
−
The function ''OnGUI()'' is the area of interest. This function contains the buttons and joint angle sliders we seen on the AHAS GUI. To create a button and link its press to a command is as simple as follows:
+
The function ''OnGUI()'' is the area of interest. This function contains the buttons we seen on the AHAS GUI.<br>
 +
To create a button and link its press to a command is as simple as follows:
  
 
<syntaxhighlight lang="lua">
 
<syntaxhighlight lang="lua">
 
...
 
...
−
 
+
-- ROW 1
−
    -- if button is pressed
+
row = 1
−
    -- GUIButton(x-pos, y-pos, width, height, "name")
+
col = 1
−
     if (GUIButton(5, 35, 120, 25, "Home")) then
+
button_image = Image.new("buttonImages/home_off.png")
−
 
+
if (isHome) then
−
      -- command to be send to controller:
+
button_image = Image.new("buttonImages/home_on.png")
−
      -- RCMD_GO_HOME, RCMD_GO_READY or RCMD_USER + #
+
end
−
      sendCommand("HandController", RCMD_GO_HOME, VK_H)
+
     if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
−
 
+
controller:command(RCMD_GO_HOME, VK_H)
−
      -- command prompt output
+
print("Home button pressed")
−
      print("Home button pressed")
+
allMotionsFalse()
−
    end
+
if (isConnected) then isHome = true end
−
 
+
end
 
...
 
...
 
</syntaxhighlight >
 
</syntaxhighlight >
  
−
This button, when pressed, will cause the hand to assume its ''Home'' position. As mentioned in the comments, the arguments of ''GUIButtons()'' specify the button's location and the string displayed on the button.
+
This button, when pressed, will cause the hand to assume its ''Home'' position. As mentioned in the comments, the arguments of ''GUI.Button()'' specify the button's Rect and the image displayed on the button.
  
−
'''x-pos:''' button's distance from the left side of the AHAS window (pixels)<br>
+
The function ''controller:command()'' is used to forward a command to the hand controller, the DLL plug-in, ''myAHController.dll''.
−
'''y-pos:''' button's distance from the top of the AHAS window (pixels)<br>
+
−
'''width:''' button width (pixels)<br>
+
−
'''height:''' button height (pixels)<br>
+
−
 
+
−
The function ''sendCommand'' is used to forward a command to the hand controller, the DLL plug-in, ''control_AllegroHand.dll''.
+
−
 
+
−
<syntaxhighlight lang="lua">
+
−
sendCommand("HandController", RCMD_GO_HOME)
+
−
</syntaxhighlight >
+
  
−
Notice that all of the button code to command the Allegro Hand library motion is already available within the original LUA file, yet, if clicked, these buttons do nothing. We must develop the ''command()'' function in ''control_AllegroHand.cpp'' to handle the incoming commands.
+
Notice that all of the button code to command the Allegro Hand library motion is already available within the original LUA file, yet, if clicked, these buttons do nothing. We must develop the ''command()'' function in ''myAHController.cpp'' to handle the incoming commands.
  
 
<br>
 
<br>
Line 48: Line 40:
 
Since the buttons are already set up in AHAS, it is very easy to set up the function that will handle the commands in the control plug-in. But first, we must define the commands as integers for easy recognition.
 
Since the buttons are already set up in AHAS, it is very easy to set up the function that will handle the commands in the control plug-in. But first, we must define the commands as integers for easy recognition.
  
−
===control_AllegroHandCmd.h===
+
===myAHControllerCmd.h===
  
 
In the following header file, the command BH_HOME, used to call the home position for the Allegro Hand, is defined as RCMD_GO_HOME. This represents an integer value predefined in ''rCmdManipulator.h''.  
 
In the following header file, the command BH_HOME, used to call the home position for the Allegro Hand, is defined as RCMD_GO_HOME. This represents an integer value predefined in ''rCmdManipulator.h''.  
Line 56: Line 48:
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
  
−
#ifndef __CONTROL_ALLEGROHAND_CMD_H__
+
#ifndef __MY_AH_CONTROLLER_CMD_H__
−
#define __CONTROL_ALLEGROHAND_CMD_H__
+
#define __MY_AH_CONTROLLER_CMD_H__
 
   
 
   
 
#include "rCommand/rCmdManipulator.h"
 
#include "rCommand/rCmdManipulator.h"
Line 74: Line 66:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===control_AllegroHand.cpp===
+
===myAHController.cpp===
  
 
Now that the 'home' command, BH_HOME has been defined, we can write the command handler into our controller. In the function ''command()'', we will create a switch statement with the integer valued command as input. This method will allow us to easily expand out list off executable commands in the future.
 
Now that the 'home' command, BH_HOME has been defined, we can write the command handler into our controller. In the function ''command()'', we will create a switch statement with the integer valued command as input. This method will allow us to easily expand out list off executable commands in the future.
  
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
−
int control_AllegroHand::command(const short& cmd, const int& arg)
+
int myAHController::command(const short& cmd, const int& arg)
 
{
 
{
 
// Handles user-defined commands according to cmd.
 
// Handles user-defined commands according to cmd.
Line 111: Line 103:
  
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
−
void control_AllegroHand::_compute(const double& t)
+
void myAHController::_compute(const double& t)
 
{
 
{
 
if (_hand)
 
if (_hand)
Line 133: Line 125:
 
==More Buttons, More Motions==
 
==More Buttons, More Motions==
  
−
As you can see in the ''ALLEGROHAND1.lua'' code, all of the motion buttons already have a command in the form ''RCMD_USER + #''. We will reference these commands to update our header file, ''control_AllegroHandCmd.h''.
+
As you can see in the ''myAHController.lua'' code, all of the motion buttons already have a command in the form ''RCMD_USER + #''. We will reference these commands to update our header file, ''myAHControllerCmd.h''.
  
  
−
===ALLEGROHAND1.lua===
+
===myAHController.lua===
 
<syntaxhighlight lang="lua">
 
<syntaxhighlight lang="lua">
 
...
 
...
  
−
    -- RCMD_GO_HOME and RCMD_USER are predefines
+
  BH_READY = RCMD_USER + 2
−
    -- Every user command besides the 'home' command
+
  BH_GRASP_3 = RCMD_USER + 3
−
    -- will be RCMD_USER plus an integer see the
+
  BH_GRASP_4 = RCMD_USER + 4
−
    -- control_AllegroHandCmd.h header file for
+
  BH_PINCH_IT = RCMD_USER + 5
−
    -- command definitions
+
  BH_PINCH_MT = RCMD_USER + 6
−
BH_READY = RCMD_USER + 2
+
  BH_ENVELOP = RCMD_USER + 8
 +
  BH_SHOWOFF = RCMD_USER + 50
 +
  BH_GRAVITY_COMP = RCMD_USER + 9
 +
  BH_TEST = RCMD_USER + 100
 +
 +
  CAN_CMD_RESET_ENC = 4
  
−
GUI = {Button = GUIButton, Label = GUILabel, Slider = GUISlider,}
+
  function OnGUI()
 +
 
 +
 
 +
  topPadding_percent = 02/100
 +
  topPadding = Screen.height*topPadding_percent
 +
  leftPadding = topPadding
 +
  buttonSize_plusPadding = (Screen.height-topPadding*3)/rowsTotal
 +
 
 +
  button_percent = 93/100
 +
  buttonHeight = buttonSize_plusPadding*button_percent
 +
  buttonWidth = buttonHeight
 +
  verticalPadding = buttonSize_plusPadding - buttonHeight
 +
  horizontalPadding = verticalPadding
 +
 
 +
 
 +
  if (buttonHeight > maxButtonSize) then
 +
buttonHeight = maxButtonSize
 +
buttonWidth = buttonHeight
 +
verticalPadding = 10
 +
horizontalPadding = 10
 +
leftPadding = 10
 +
topPadding = 10
 +
  end
 +
 
 +
  AllegroLogoWidth_max = 512
 +
  AllegroLogoHeight_max = AllegroLogoWidth_max/8
 +
 
 +
 
 +
  AllegroLogoHeight = AllegroLogoHeight_max
 +
  AllegroLogoWidth = AllegroLogoWidth_max
 +
 +
 +
if (Screen.width > 0.8*AllegroLogoWidth_max) then
 +
  x = Screen.width - AllegroLogoWidth - leftPadding
 +
  y = topPadding
 +
  GUI.DrawTexture(Rect.new(x, y, AllegroLogoWidth, AllegroLogoHeight), Image.new("buttonImages/AllegroHandLogo.png"), 0.0)
 +
end
 +
 +
-- ROW 1
 +
--[[
 +
row = 1
 +
col = 1
 +
button_image = Image.new("buttonImages/on.png")
 +
if (isConnected) then
 +
button_image = Image.new("buttonImages/off.png")
 +
end
 +
    --if (GUI.Button(Rect.new(hLocation(col), vLocation(row), buttonWidth, buttonHeight),  Image.new(button_image))) then
 +
if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
if (isConnected) then
 +
comm:off()
 +
controller:command(RESERVED_CMD_SERVO_OFF)
 +
isConnected = false
 +
  allMotionsFalse()
 +
else
 +
  controller:command(RCMD_USER + 0)
 +
  comm:on()
 +
  controller:command(RESERVED_CMD_SERVO_ON)
 +
  isConnected = true
 +
    allMotionsFalse()
 +
end
 +
    end
 +
]]--
 +
 +
-- ROW 1
 +
row = 1
 +
col = 1
 +
button_image = Image.new("buttonImages/home_off.png")
 +
if (isHome) then
 +
button_image = Image.new("buttonImages/home_on.png")
 +
end
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(RCMD_GO_HOME, VK_H)
 +
print("Home button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isHome = true end
 +
end
 +
 +
col = 2
 +
button_image = Image.new("buttonImages/ready_off.png")
 +
if (isReady) then
 +
button_image = Image.new("buttonImages/ready_on.png")
 +
end
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_READY, VK_R)
 +
print("Ready button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isReady = true end
 +
end
 +
 +
-- ROW 3
 +
row = 2
 +
col = 1
 +
button_image = Image.new("buttonImages/grasp3fingers_off.png")
 +
if (isGrasp3) then
 +
button_image = Image.new("buttonImages/grasp3fingers_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_GRASP_3)
 +
print("Grasp 3 button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isGrasp3 = true end
 +
end
 +
 +
col = 2
 +
button_image = Image.new("buttonImages/grasp4fingers_off.png")
 +
if (isGrasp4) then
 +
button_image = Image.new("buttonImages/grasp4fingers_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_GRASP_4)
 +
print("Grasp 4 button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isGrasp4 = true end
 +
end
 +
 +
-- ROW 4
 +
row = 3
 +
col = 1
 +
button_image = Image.new("buttonImages/pinchIndex_off.png")
 +
if (isPinchIT) then
 +
button_image = Image.new("buttonImages/pinchIndex_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_PINCH_IT)
 +
print("Pinch (IT) button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isPinchIT = true end
 +
end
 +
 +
col = 2
 +
button_image = Image.new("buttonImages/pinchMiddle_off.png")
 +
if (isPinchMT) then
 +
button_image = Image.new("buttonImages/pinchMiddle_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_PINCH_MT)
 +
print("Pinch (MT) button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isPinchMT = true end
 +
end
 +
 +
 +
-- ROW 5
 +
row = 4
 +
col = 1
 +
button_image = Image.new("buttonImages/envelop_off.png")
 +
if (isEnvelop) then
 +
button_image = Image.new("buttonImages/envelop_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_ENVELOP)
 +
print("Envelop button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isEnvelop = true end
 +
end
 +
 +
--[[
 +
col = 2
 +
button_image = Image.new("buttonImages/gravityCompensation_off.png")
 +
if (isGravity) then
 +
button_image = Image.new("buttonImages/gravityCompensation_on.png")
 +
end 
 +
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_GRAVITY_COMP)
 +
print("Gravity Compensation button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isGravity = true end
 +
end
  
−
  function OnGUI()
+
-- ROW 6
−
    local Screen = {["width"] = ScreenWidth, ["height"] = ScreenHeight, }
+
row = 5
−
  if (GUI.Button(5, 5, 120, 25, "Home")) then
+
col = 2
−
  sendCommand("HandController", RCMD_GO_HOME)
+
button_image = Image.new("buttonImages/showOff_off.png")
−
  print("Home button pressed")
+
if (isShowOff) then
−
  end
+
button_image = Image.new("buttonImages/showOff_on.png")
−
  if (GUI.Button(5, 35, 120, 25, "Ready")) then
+
end 
−
  sendCommand("HandController", BH_READY)
+
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
−
  print("Ready button pressed")
+
controller:command(BH_SHOWOFF)
−
  end
+
print("Showoff button pressed")
−
  if (GUI.Button(5, 65, 120, 25, "GRASP 3")) then
+
allMotionsFalse()
−
  sendCommand("HandController", RCMD_USER + 3)
+
if (isConnected) then isShowOff = true end
−
  print("Grasp 3 button pressed")
+
end
−
  end
+
]]--
−
  if (GUI.Button(5, 95, 120, 25, "PINCHING")) then
+
−
  sendCommand("HandController", RCMD_USER + 5)
+
-- ROW 8
−
  print("Pinching button pressed")
+
--[[
−
  end
+
row = rowsTotal
−
...
+
col = 1
 +
button_image = Image.new("buttonImages/encoderOffsets_off.png")
 +
    if (GUI.Button(Rect.new(Screen.width - button(row,col)[1]-buttonWidth, button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) 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
 +
 +
enc = hand:findDevice(encName)
 +
enc:command(CAN_CMD_RESET_ENC)
 +
--print("Test Encoders")
 +
  end
 +
  io.read()
 +
    end
 +
 +
row = rowsTotal - 1
 +
col = 1
 +
button_image = Image.new("buttonImages/motorDirections_off.png")
 +
    if (GUI.Button(Rect.new(Screen.width - button(row,col)[1]-buttonWidth, button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_TEST)
 +
print("Test Motor Positive Direction")
 +
end
 +
 +
]]--
 +
 
 +
  end
 +
 
 
</syntaxhighlight>
 
</syntaxhighlight>
  
  
−
Please note that the command, BH_READY, is defined above as RCMD_USER + 2. This is the same as feeding RCMD_USER + 2 directly into ''sendCommand()''. Feel free to define these wherever you want.
+
Please note that the command, BH_READY, is defined above as RCMD_USER + 2.<br>
 +
This is the same as feeding RCMD_USER + 2 directly into ''controller:command()''. Feel free to define these wherever you want.
  
−
According to the definitions in the AHAS LUA file, we will add these three(3) new commands to the ''control_AllegroHandCmd.h'' header file definitions. We will then add the code to be executed with each button to ''control_AllegroHand.cpp'''s ''command()'' function.
+
According to the definitions in the AHAS LUA file, we will add these six(6) new commands to the ''myAHControllerCmd.h'' header file definitions. We will then add the code to be executed with each button to ''myAHController.cpp'''s ''command()'' function.
  
−
===control_AllegroHandCmd.h:===
+
===myAHControllerCmd.h:===
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
 
...
 
...
Line 183: Line 393:
 
#define BH_READY (RCMD_USER + 2)
 
#define BH_READY (RCMD_USER + 2)
 
#define BH_GRASP_3 (RCMD_USER + 3)
 
#define BH_GRASP_3 (RCMD_USER + 3)
 +
#define BH_GRASP_4 (RCMD_USER + 4)
 
#define BH_PINCH_IT (RCMD_USER + 5)
 
#define BH_PINCH_IT (RCMD_USER + 5)
 +
#define BH_PINCH_MT (RCMD_USER + 6)
 +
#define BH_ENVELOP (RCMD_USER + 8)
  
 
//#define BH_MORE (RCMD_USER + 99)
 
//#define BH_MORE (RCMD_USER + 99)
Line 190: Line 403:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===control_AllegroHand.cpp===
+
===myAHConroller.cpp===
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
−
int control_AllegroHand::command(const short& cmd, const int& arg)
+
int myAHConroller::command(const short& cmd, const int& arg)
 
{
 
{
 
// Handles user-defined commands according to cmd.
 
// Handles user-defined commands according to cmd.
Line 221: Line 434:
 
if (_hand)
 
if (_hand)
 
_hand->SetMotionType(eMotionType_GRASP_3);
 
_hand->SetMotionType(eMotionType_GRASP_3);
 +
}
 +
break;
 +
case BH_GRASP_4:  // This grasping algorithm is a torque-controlled, four-fingered grip.
 +
{
 +
_demo_mode = 0;
 +
if (_hand)
 +
_hand->SetMotionType(eMotionType_GRASP_4);
 
}
 
}
 
break;
 
break;
Line 228: Line 448:
 
if (_hand)
 
if (_hand)
 
_hand->SetMotionType(eMotionType_PINCH_IT);
 
_hand->SetMotionType(eMotionType_PINCH_IT);
 +
}
 +
break;
 +
case BH_PINCH_MT: // This grasping algorithm is a torque-controlled, two-fingered pinch.
 +
{
 +
_demo_mode = 0;
 +
if (_hand)
 +
_hand->SetMotionType(eMotionType_PINCH_MT);
 +
}
 +
break;
 +
case BH_ENVELOP: // This grasping algorithm is a torque-controlled, two-fingered pinch.
 +
{
 +
_demo_mode = 0;
 +
if (_hand)
 +
_hand->SetMotionType(eMotionType_ENVELOP);
 
}
 
}
 
break;
 
break;
Line 245: Line 479:
 
==A Button Just For Us==
 
==A Button Just For Us==
  
−
In your AHAS ''bin/controls'' directory, locate the file ''ALLEGROHAND1.lua''. Copy this file to your ''Desktop''.
+
In your AHAS ''bin/controls'' directory, locate the file ''myAHController.lua''. Copy this file to your ''Desktop''.
  
 
'''''Note: '''Once again, we must copy this file to the desktop for editing then move it back to the controls folder when we are finished to avoid opening with admin privileges.''
 
'''''Note: '''Once again, we must copy this file to the desktop for editing then move it back to the controls folder when we are finished to avoid opening with admin privileges.''
  
−
From the ''Desktop'', let's open up ''ALLEGROHAND1.lua'' and take a look.
+
From the ''Desktop'', let's open up ''myAHController.lua'' and take a look.
  
  
 
To make our own button we need only to copy the code from a stock button and change three things: the location, the name and the command sent to the controller.
 
To make our own button we need only to copy the code from a stock button and change three things: the location, the name and the command sent to the controller.
  
−
First, select any of the stock button and copy the ''if statement'' and anything inside. Paste it below the last stock button (''PINCHING'').
+
First, select any of the stock button and copy the ''if statement'' and anything inside. Paste it below the last stock button (''ENVELOP'').
  
 
Now we will change a few things to make this button our own.
 
Now we will change a few things to make this button our own.
−
 
−
 
−
'''Name:''' The name of the button is the text displayed on the button within the AHAS GUI. I will name the new button ''"Demo Mode 1"'' but feel free to name this button whatever you'd like.<br>
 
−
'''Position and Size:''' Defines the window position in pixels relative to the top left and the button size in pixels.<br>
 
−
:'''x-pos:''' button's distance from the left side of the AHAS window (pixels)<br>
 
−
:'''y-pos:''' button's distance from the top of the AHAS window (pixels)<br>
 
−
:'''width:''' button width (pixels)<br>
 
−
:'''height:''' button height (pixels)<br>
 
−
'''Command:''' Command value to be send to the controller.
 
−
 
  
 
The following button code produces a button called ''"Demo Mode 1"'' just below the ''"PINCHING"'' button. The command sent to the controller is ''RCMD_USER + 50''. Remember, we will have to define this in the controller header for use in the controller command function.
 
The following button code produces a button called ''"Demo Mode 1"'' just below the ''"PINCHING"'' button. The command sent to the controller is ''RCMD_USER + 50''. Remember, we will have to define this in the controller header for use in the controller command function.
  
  
−
===ALLEGROHAND1.lua===
+
===myAHController.lua===
 
<syntaxhighlight lang="lua">
 
<syntaxhighlight lang="lua">
 
...
 
...
 +
 +
-- ROW 5
 +
row = 4
 +
col = 2
 +
button_image = Image.new("buttonImages/envelop_off.png")
 +
if (isEnvelop) then
 +
button_image = Image.new("buttonImages/envelop_on.png")
 +
end 
 +
if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
 +
controller:command(BH_ENVELOP)
 +
print("Envelop button pressed")
 +
allMotionsFalse()
 +
if (isConnected) then isEnvelop = true end
 +
end
  
 
   if (GUI.Button(5, 95, 120, 25, "PINCHING")) then
 
   if (GUI.Button(5, 95, 120, 25, "PINCHING")) then
Line 288: Line 526:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===controlAllegroHandCmd.h===
+
===myAHControllerCmd.h===
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
 
...
 
...
  
−
#define BH_PINCH_IT (RCMD_USER + 8)
+
#define BH_ENVELOP (RCMD_USER + 8)
 
#define BH_DEMO1 (RCMD_USER + 50)
 
#define BH_DEMO1 (RCMD_USER + 50)
  
Line 299: Line 537:
  
  
−
===controlAllegroHand.cpp===
+
===myAHController.cpp===
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
−
int control_AllegroHand::command(const short& cmd, const int& arg)
+
int myAHController::command(const short& cmd, const int& arg)
 
...
 
...
  
−
case BH_PINCH_IT:
+
case BH_ENVELOP:
 
{
 
{
 
_demo_mode = 0;
 
_demo_mode = 0;
 
if (_hand)
 
if (_hand)
−
_hand->SetMotionType(eMotionType_PINCH_IT);
+
_hand->SetMotionType(eMotionType_ENVELOP);
 
}
 
}
 
break;
 
break;
Line 333: Line 571:
 
The controller's ''command()'' function calls the BHand library functions and the command values used are based on the original LUA file. This means that the BHand library function like Grasp and Pinch should automatically work with the buttons in AHAS for the actual hand. These buttons send the same commands and will therefore execute the same motions without any changes to the LUA file.
 
The controller's ''command()'' function calls the BHand library functions and the command values used are based on the original LUA file. This means that the BHand library function like Grasp and Pinch should automatically work with the buttons in AHAS for the actual hand. These buttons send the same commands and will therefore execute the same motions without any changes to the LUA file.
  
−
If you would like to demonstrate your demo mode controller on the actual hand, you need only add your new button to ''ALLEGROHAND1_ACTUAL.lua''.
+
If you would like to demonstrate your demo mode controller on the actual hand, you need only add your new button to ''myAHController_ACTUAL.lua''.
  
  
−
'''''Note: '''The first argument of sendCommand() is '''"RTController"''', not '''"HandController"''' as in the virtual hand LUA file.''
+
'''''Note: '''The first argument of controller:command() is '''"RTController"''', not '''"HandController"''' as in the virtual hand LUA file.''
  
  
−
===ALLEGROHAND1_ACTUAL.lua===
+
===myAHController_ACTUAL.lua===
 
<syntaxhighlight lang="lua">
 
<syntaxhighlight lang="lua">
 
...
 
...

Revision as of 15:12, 29 April 2015

In the last few tutorials, we created a control algorithm project and verified our setup by performing a simple user-defined motion on both the virtual and actual Allegro Hands. We did all this ignoring the features of Allegro Hand Application Studio (AHAS) as a robust GUI interface for controlling the hand and visualizing certain data.

In this tutorial, we will take advantage of buttons in AHAS and use them to invoke our own algorithms and those supplied along with AHAS in the BHand Library.

Contents

AHAS Buttons

Let's open up myAHController.lua and take a look.
This is the file that we made in Tutorial 1 which links to out new controller.
The function OnGUI() is the area of interest. This function contains the buttons we seen on the AHAS GUI.
To create a button and link its press to a command is as simple as follows: 

...
	-- ROW 1
	row = 1
	col = 1
	button_image = Image.new("buttonImages/home_off.png")
	if (isHome) then
		button_image = Image.new("buttonImages/home_on.png")
	end
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(RCMD_GO_HOME, VK_H)
		print("Home button pressed")
		allMotionsFalse()
		if (isConnected) then isHome = true end
	end
...

This button, when pressed, will cause the hand to assume its Home position. As mentioned in the comments, the arguments of GUI.Button() specify the button's Rect and the image displayed on the button.

The function controller:command() is used to forward a command to the hand controller, the DLL plug-in, myAHController.dll.

Notice that all of the button code to command the Allegro Hand library motion is already available within the original LUA file, yet, if clicked, these buttons do nothing. We must develop the command() function in myAHController.cpp to handle the incoming commands.


Plug-in Command Handling

Since the buttons are already set up in AHAS, it is very easy to set up the function that will handle the commands in the control plug-in. But first, we must define the commands as integers for easy recognition.

myAHControllerCmd.h

In the following header file, the command BH_HOME, used to call the home position for the Allegro Hand, is defined as RCMD_GO_HOME. This represents an integer value predefined in rCmdManipulator.h.

The command BH_NONE is defined as RCMD_USER, another integer value predefined in rCmdDefine.h. We will use RCMD_USER plus some integer to define all of our further commands from both the BHand library and our user-written algorithms (see BH_ONE). 

#ifndef __MY_AH_CONTROLLER_CMD_H__
#define __MY_AH_CONTROLLER_CMD_H__
 
#include "rCommand/rCmdManipulator.h"
 
// These commands will be fed into command()
// and can be used to envoke certain actions
// by the robot. Allegro Application Studio
// will use these to interface with the
// cotroller plug-in.
#define BH_NONE		(RCMD_USER + 0)
#define BH_HOME		(RCMD_GO_HOME)
// #define BH_ONE		(RCMD_USER + 1)
 
#endif

myAHController.cpp

Now that the 'home' command, BH_HOME has been defined, we can write the command handler into our controller. In the function command(), we will create a switch statement with the integer valued command as input. This method will allow us to easily expand out list off executable commands in the future. 

int myAHController::command(const short& cmd, const int& arg)
{
	// Handles user-defined commands according to cmd.
	// Further information can be retrieved from the second argument.
 
	// The variable cmd will be received from Allegro Application Studio
	// and will be used to envoke hand actions
 
	switch (cmd)
	{
	case BH_HOME:
		{
			_demo_mode = 0;
 
			if (_hand)
				_hand->SetMotionType(eMotionType_HOME);
		}
		break;
 
	default:
		break;
	}
 
	return 0;
}

As you can see, when it is time to the home position, we must turn off demo mode, which, as you remember, is the sinusoidal joint position controller we implementer in the last two tutorials. But setting _demo_mode to zero will not do the trick. We must revisit the demo mode algorithm and edit the if statement around it.

Currently, the if statement controlling the execution of the demo mode algorithm is evaluated as always true. Replace the true with the variable _demo_mode so that we can once again control it. This will also prevent the algorithm from running immediately when AHAS starts up. 

void myAHController::_compute(const double& t)
{
	if (_hand)
	{
		_hand->SetJointPosition(_q.array);		    // joint positions set via torque PID
 
                // DEMO MODE NOW ONLY RUNS IF WE SET _demo_mode TO 1
		if (_demo_mode) 
		{
			_hand->SetMotionType(eMotionType_JOINT_PD); // PID gains and motion control set
 
...

Compile then open up AHAS from the shortcut on your desktop.

Note: Make sure you are opening the shortcut that will run the virtual hand, not the actual hand.

The hand should be fully flat when AHAS starts. Click "Home" to send the home position command. That should assume the home position. Unfortunately, we now have no way to access our demo mode. We will fix that, but first, lets get all of the other buttons working.

More Buttons, More Motions

As you can see in the myAHController.lua code, all of the motion buttons already have a command in the form RCMD_USER + #. We will reference these commands to update our header file, myAHControllerCmd.h.


myAHController.lua

...
 
  BH_READY 			= RCMD_USER + 2
  BH_GRASP_3 		= RCMD_USER + 3
  BH_GRASP_4 		= RCMD_USER + 4
  BH_PINCH_IT 		= RCMD_USER + 5
  BH_PINCH_MT 		= RCMD_USER + 6
  BH_ENVELOP 		= RCMD_USER + 8
  BH_SHOWOFF 		= RCMD_USER + 50
  BH_GRAVITY_COMP 	= RCMD_USER + 9
  BH_TEST 			= RCMD_USER + 100
 
  CAN_CMD_RESET_ENC = 4
 
  function OnGUI()
 
 
  topPadding_percent = 02/100
  topPadding = Screen.height*topPadding_percent
  leftPadding = topPadding
  buttonSize_plusPadding = (Screen.height-topPadding*3)/rowsTotal
 
  button_percent = 93/100
  buttonHeight = buttonSize_plusPadding*button_percent
  buttonWidth = buttonHeight
  verticalPadding = buttonSize_plusPadding - buttonHeight
  horizontalPadding = verticalPadding
 
 
  if (buttonHeight > maxButtonSize) then
	buttonHeight = maxButtonSize
	buttonWidth = buttonHeight
	verticalPadding = 10
	horizontalPadding = 10
	leftPadding = 10
	topPadding = 10
  end
 
  AllegroLogoWidth_max = 512
  AllegroLogoHeight_max = AllegroLogoWidth_max/8
 
 
  AllegroLogoHeight = AllegroLogoHeight_max
  AllegroLogoWidth = AllegroLogoWidth_max 
 
 
 if (Screen.width > 0.8*AllegroLogoWidth_max) then
  x = Screen.width - AllegroLogoWidth - leftPadding
  y = topPadding
  GUI.DrawTexture(Rect.new(x, y, AllegroLogoWidth, AllegroLogoHeight), Image.new("buttonImages/AllegroHandLogo.png"), 0.0)
end	
 
	-- ROW 1
	--[[
	row = 1
	col = 1
	button_image = Image.new("buttonImages/on.png")
	if (isConnected) then
		button_image = Image.new("buttonImages/off.png")
	end
    --if (GUI.Button(Rect.new(hLocation(col), vLocation(row), buttonWidth, buttonHeight),  Image.new(button_image))) then
	if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
		if (isConnected) then
			comm:off()
			controller:command(RESERVED_CMD_SERVO_OFF)
			isConnected = false
					  allMotionsFalse()
		else
		  controller:command(RCMD_USER + 0)
		  comm:on()
		  controller:command(RESERVED_CMD_SERVO_ON)
		  isConnected = true
		  		  allMotionsFalse()
		end
    end
	]]--
 
	-- ROW 1
	row = 1
	col = 1
	button_image = Image.new("buttonImages/home_off.png")
	if (isHome) then
		button_image = Image.new("buttonImages/home_on.png")
	end
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(RCMD_GO_HOME, VK_H)
		print("Home button pressed")
		allMotionsFalse()
		if (isConnected) then isHome = true end
	end
 
	col = 2
	button_image = Image.new("buttonImages/ready_off.png")
	if (isReady) then
		button_image = Image.new("buttonImages/ready_on.png")
	end	
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_READY, VK_R)
		print("Ready button pressed")
		allMotionsFalse()
		if (isConnected) then isReady = true end	
	end	
 
	-- ROW 3
	row = 2
	col = 1	
	button_image = Image.new("buttonImages/grasp3fingers_off.png")
	if (isGrasp3) then
		button_image = Image.new("buttonImages/grasp3fingers_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_GRASP_3)
		print("Grasp 3 button pressed")
		allMotionsFalse()
		if (isConnected) then isGrasp3 = true end			
	end	
 
	col = 2
	button_image = Image.new("buttonImages/grasp4fingers_off.png")
	if (isGrasp4) then
		button_image = Image.new("buttonImages/grasp4fingers_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_GRASP_4)
		print("Grasp 4 button pressed")
		allMotionsFalse()
		if (isConnected) then isGrasp4 = true end			
	end	
 
	-- ROW 4
	row = 3
	col = 1	
	button_image = Image.new("buttonImages/pinchIndex_off.png")
	if (isPinchIT) then
		button_image = Image.new("buttonImages/pinchIndex_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_PINCH_IT)
		print("Pinch (IT) button pressed")	
		allMotionsFalse()
		if (isConnected) then isPinchIT = true end			
	end	
 
	col = 2
	button_image = Image.new("buttonImages/pinchMiddle_off.png")
	if (isPinchMT) then
		button_image = Image.new("buttonImages/pinchMiddle_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_PINCH_MT)
		print("Pinch (MT) button pressed")	
		allMotionsFalse()
		if (isConnected) then isPinchMT = true end			
	end	
 
 
	-- ROW 5
	row = 4
	col = 1	
	button_image = Image.new("buttonImages/envelop_off.png")
	if (isEnvelop) then
		button_image = Image.new("buttonImages/envelop_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_ENVELOP)
		print("Envelop button pressed")
		allMotionsFalse()
		if (isConnected) then isEnvelop = true end			
	end	
 
	--[[
	col = 2
	button_image = Image.new("buttonImages/gravityCompensation_off.png")
	if (isGravity) then
		button_image = Image.new("buttonImages/gravityCompensation_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_GRAVITY_COMP)
		print("Gravity Compensation button pressed")
		allMotionsFalse()
		if (isConnected) then isGravity = true end			
	end	
 
	-- ROW 6
	row = 5
	col = 2
	button_image = Image.new("buttonImages/showOff_off.png")
	if (isShowOff) then
		button_image = Image.new("buttonImages/showOff_on.png")
	end  
    if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_SHOWOFF)
		print("Showoff button pressed")
		allMotionsFalse()
		if (isConnected) then isShowOff = true end			
	end		
	]]--
 
	-- ROW 8
	--[[
	row = rowsTotal
	col = 1
	button_image = Image.new("buttonImages/encoderOffsets_off.png")
    if (GUI.Button(Rect.new(Screen.width - button(row,col)[1]-buttonWidth, button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) 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
 
		enc = hand:findDevice(encName)
		enc:command(CAN_CMD_RESET_ENC)
		--print("Test Encoders")
	  end
	  io.read()
    end
 
	row = rowsTotal - 1
	col = 1
	button_image = Image.new("buttonImages/motorDirections_off.png")
    if (GUI.Button(Rect.new(Screen.width - button(row,col)[1]-buttonWidth, button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then
		controller:command(BH_TEST)
		print("Test Motor Positive Direction")
	end	
 
	]]--
 
  end


Please note that the command, BH_READY, is defined above as RCMD_USER + 2.
This is the same as feeding RCMD_USER + 2 directly into controller:command(). Feel free to define these wherever you want.

According to the definitions in the AHAS LUA file, we will add these six(6) new commands to the myAHControllerCmd.h header file definitions. We will then add the code to be executed with each button to myAHController.cpp's command() function.

myAHControllerCmd.h:

...
 
#define BH_NONE		(RCMD_USER + 0)
#define BH_HOME		(RCMD_GO_HOME)
#define BH_READY	(RCMD_USER + 2)
#define BH_GRASP_3	(RCMD_USER + 3)
#define BH_GRASP_4	(RCMD_USER + 4)
#define BH_PINCH_IT	(RCMD_USER + 5)
#define BH_PINCH_MT	(RCMD_USER + 6)
#define BH_ENVELOP	(RCMD_USER + 8)
 
//#define BH_MORE	(RCMD_USER + 99)
 
...

myAHConroller.cpp

int myAHConroller::command(const short& cmd, const int& arg)
{
	// Handles user-defined commands according to cmd.
	// Further information can be retrieved from the second argument.
 
	// The variable cmd will be received from Allegro Application Studio
	// and will be used to envoke hand actions
 
	switch (cmd)
	{
	case BH_HOME:    // The position ensures that all joints are oriented properly for executing a grasp.
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_HOME);
		}
		break;
	case BH_READY:   // Click the buttons entitled Ready to prepare for each type of grasping motion.
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_READY);
		}
		break;
	case BH_GRASP_3:  // This grasping algorithm is a torque-controlled, three-fingered grip. 
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_GRASP_3);
		}
		break;
	case BH_GRASP_4:  // This grasping algorithm is a torque-controlled, four-fingered grip. 
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_GRASP_4);
		}
		break;
	case BH_PINCH_IT: // This grasping algorithm is a torque-controlled, two-fingered pinch.
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_PINCH_IT);
		}
		break;
	case BH_PINCH_MT: // This grasping algorithm is a torque-controlled, two-fingered pinch.
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_PINCH_MT);
		}
		break;
	case BH_ENVELOP: // This grasping algorithm is a torque-controlled, two-fingered pinch.
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_ENVELOP);
		}
		break;
	default:
		break;
	}
 
	return 0;
}


As you can see in every case, we are ensuring that _demo_mode is set to zero. The value of the _demo_mode flag is checked every iteration. If _demo_mode == 1, then the demo code we wrote earlier will override the latest command.

Now compile, reload AHAS and play with your buttons!!

A Button Just For Us

In your AHAS bin/controls directory, locate the file myAHController.lua. Copy this file to your Desktop.

Note: Once again, we must copy this file to the desktop for editing then move it back to the controls folder when we are finished to avoid opening with admin privileges.

From the Desktop, let's open up myAHController.lua and take a look.


To make our own button we need only to copy the code from a stock button and change three things: the location, the name and the command sent to the controller.

First, select any of the stock button and copy the if statement and anything inside. Paste it below the last stock button (ENVELOP).

Now we will change a few things to make this button our own.

The following button code produces a button called "Demo Mode 1" just below the "PINCHING" button. The command sent to the controller is RCMD_USER + 50. Remember, we will have to define this in the controller header for use in the controller command function.


myAHController.lua

...
 
	-- ROW 5
	row = 4
	col = 2	
	button_image = Image.new("buttonImages/envelop_off.png")
	if (isEnvelop) then
		button_image = Image.new("buttonImages/envelop_on.png")
	end  
	if (GUI.Button(Rect.new(button(row,col)[1], button(row,col)[2], button(row,col)[3], button(row,col)[4]),  button_image)) then	
		controller:command(BH_ENVELOP)
		print("Envelop button pressed")
		allMotionsFalse()
		if (isConnected) then isEnvelop = true end			
	end	
 
  	if (GUI.Button(5, 95, 120, 25, "PINCHING")) then
  		sendCommand("HandController", RCMD_USER + 5)
  		print("Pinching button pressed")
  	end
 
  	if (GUI.Button(5, 155, 240 25, "PINCHING")) then
  		sendCommand("HandController", RCMD_USER + 50)
  		print("Pinching button pressed")
  	end
 
...

myAHControllerCmd.h

...
 
#define BH_ENVELOP	(RCMD_USER + 8)
#define BH_DEMO1	(RCMD_USER + 50)
 
#endif


myAHController.cpp

int myAHController::command(const short& cmd, const int& arg)
...
 
	case BH_ENVELOP:
		{
			_demo_mode = 0;
			if (_hand)
				_hand->SetMotionType(eMotionType_ENVELOP);
		}
		break;
	case BH_DEMO1:
		{
			_demo_mode = 1;
		}
		break;
	default:
		break;
	}
 
	return 0;
}


As simple as that!

With what you learned in this tutorial, you can add as many buttons and respective control algorithms as you want. Please feel free to share your results with us!

Actual Allegro Hand

The controller's command() function calls the BHand library functions and the command values used are based on the original LUA file. This means that the BHand library function like Grasp and Pinch should automatically work with the buttons in AHAS for the actual hand. These buttons send the same commands and will therefore execute the same motions without any changes to the LUA file.

If you would like to demonstrate your demo mode controller on the actual hand, you need only add your new button to myAHController_ACTUAL.lua.


Note: The first argument of controller:command() is "RTController", not "HandController" as in the virtual hand LUA file.


myAHController_ACTUAL.lua

...
 
  	if (GUI.Button(5, 95, 120, 25, "PINCHING")) then
  		sendCommand("HandController", RCMD_USER + 5)
  		print("Pinching button pressed")
  	end
 
  	if (GUI.Button(5, 155, 240 25, "PINCHING")) then
  		sendCommand("HandController", RCMD_USER + 50)
  		print("Pinching button pressed")
  	end
 
...




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