(Build)
(Build and Run)
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==Build==
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==Build and Run==
  
Install libpcan
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{{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]
  
Install libpcanbasic
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1. Download, build, and install PCAN-USB driver for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download libpcan]
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tar -xzvf peak-linux-driver-x.x.tar.gz
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cd peak-linux-driver-x.x
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make NET=NO
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sudo make install
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2. Download, build, and install PCAN-Basic API for Linux: [http://www.peak-system.com/Software-APIs.305.0.html?&L=1 libpcanbasic]
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tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz
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cd PCAN_Basic_Linux-x.x.x/pcanbasic
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make
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sudo make install
  
Install libBHand
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3. Download, build, and install Grasping Library for Linux: [[libBHand]]
  
  unzip AllegroHand
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4. Build Allegro Hand project using cmake
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  unzip AllegroHand.zip
 
  cd AllegroHand
 
  cd AllegroHand
 
  mkdir build
 
  mkdir build
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  make
 
  make
 
  make install
 
  make install
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5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
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6. Start the grasping program: "handTest"
 
  cd bin
 
  cd bin
 
  ./handTest
 
  ./handTest
  
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7. Power on Allegro Hand
  
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).
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8. Use keyboard command to move Allegro Hand!!!!
  
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'''''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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