(Build and Run)
(Build and Run)
Line 24: Line 24:
 
  sudo make install
 
  sudo make install
  
3. Download, build, and install Grasping Library for Linux: [[libBHand]]
+
3. Download, build, and install Grasping Library for Linux, "libBHand": [[Grasping_Library_for_Linux]]
  
 
4. Build Allegro Hand project using cmake
 
4. Build Allegro Hand project using cmake
Line 34: Line 34:
 
  make
 
  make
 
  make install
 
  make install
 +
 +
'''''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): [[Allegro_Hand_DML_Info]]
  
 
5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
 
5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
Line 45: Line 47:
 
8. Use keyboard command to move 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 18:26, 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": Grasping_Library_for_Linux

4. Build Allegro Hand project using cmake

unzip AllegroHand.zip
cd AllegroHand
mkdir build
cd build
cmake ..
make
make install

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): Allegro_Hand_DML_Info

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!!!!


If you have any questions, feel free to ask.





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