Line 1: Line 1:
 
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.
 
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
 +
 +
 +
==Lua File==
 +
 +
Navigate to the Allegro Hand Application Studio (AHAS) controls directory and locate the file called ''ERHAND_NI-CAN_LEFT''.
 +
 +
<pre>C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\controls</pre>
 +
 +
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.
 +
 +
<syntaxhighlight lang="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/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
 +
</syntaxhighlight>
 +
 +
The line
 +
<syntaxhighlight lang="lua">
 +
createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer)
 +
</syntaxhighlight>
 +
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"''.

Revision as of 15:38, 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


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

createRTSystem("models/Etc/ERHand/ERHandL_RT_NICAN.aml", "RTSys", rtTimer)

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".





Whos here now:   Members 0   Guests 0   Bots & Crawlers 2