Difference between revisions of "Allegro Hand Linux Project"
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− | ==Build== | + | ==Build and Run== |
− | + | {{bs label important|Note:}} This project is for [http://www.peak-system.com PEAK System] USB CAN chardev interface: [http://www.peak-system.com/PCAN-USB.199.0.html?&L=1 PCAN-USB] | |
− | + | 1. Download, build, and install PCAN-USB driver for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download libpcan] | |
+ | tar -xzvf peak-linux-driver-x.x.tar.gz | ||
+ | cd peak-linux-driver-x.x | ||
+ | make NET=NO | ||
+ | sudo make install | ||
+ | |||
+ | 2. Download, build, and install PCAN-Basic API for Linux: [http://www.peak-system.com/Software-APIs.305.0.html?&L=1 libpcanbasic] | ||
+ | tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz | ||
+ | cd PCAN_Basic_Linux-x.x.x/pcanbasic | ||
+ | make | ||
+ | sudo make install | ||
− | + | 3. Download, build, and install Grasping Library for Linux: [[libBHand]] | |
− | unzip AllegroHand | + | 4. Build Allegro Hand project using cmake |
+ | unzip AllegroHand.zip | ||
cd AllegroHand | cd AllegroHand | ||
mkdir build | mkdir build | ||
Line 23: | Line 34: | ||
make | make | ||
make install | make install | ||
+ | |||
+ | 5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand) | ||
+ | |||
+ | 6. Start the grasping program: "handTest" | ||
cd bin | cd bin | ||
./handTest | ./handTest | ||
+ | 7. Power on Allegro Hand | ||
− | + | 8. Use keyboard command to move Allegro Hand!!!! | |
+ | '''''Note:''''' You will need to replace the encoder offsets and directions and the motor directions in the array at the top of the main.cpp file. These offsets can be found on the offsets and directions table on your Allegro Hand Wiki page (front page - scroll down). | ||
If you have any questions, feel free to ask. | If you have any questions, feel free to ask. |
Revision as of 17:59, 9 December 2014
Download
File:MyAllegroHand Linux Project and Source.zip
Git Repo
https://github.com/simlabrobotics/allegro_hand_linux
Build and Run
Note: This project is for PEAK System USB CAN chardev interface: PCAN-USB
1. Download, build, and install PCAN-USB driver for Linux: libpcan
tar -xzvf peak-linux-driver-x.x.tar.gz cd peak-linux-driver-x.x make NET=NO sudo make install
2. Download, build, and install PCAN-Basic API for Linux: libpcanbasic
tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz cd PCAN_Basic_Linux-x.x.x/pcanbasic make sudo make install
3. Download, build, and install Grasping Library for Linux: libBHand
4. Build Allegro Hand project using cmake
unzip AllegroHand.zip cd AllegroHand mkdir build cd build cmake .. make make install
5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
6. Start the grasping program: "handTest"
cd bin ./handTest
7. Power on Allegro Hand
8. Use keyboard command to move Allegro Hand!!!!
Note: You will need to replace the encoder offsets and directions and the motor directions in the array at the top of the main.cpp file. These offsets can be found on the offsets and directions table on your Allegro Hand Wiki page (front page - scroll down).
If you have any questions, feel free to ask.
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