(Build and Run: "grasp")
(Build and Run: "grasp")
Line 11: Line 11:
 
  sudo apt-get install cmake gcc g++ libpopt-dev
 
  sudo apt-get install cmake gcc g++ libpopt-dev
  
1. Download, build, and install PCAN-USB driver for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download libpcan]. '''Note:''' v7.9 and 7.13 are tested.
+
1. Download, build, and install PCAN-USB driver for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download libpcan]. '''Note:''' v7.9 and v7.13 are tested.
 
  tar -xzvf peak-linux-driver-x.x.tar.gz
 
  tar -xzvf peak-linux-driver-x.x.tar.gz
 
  cd peak-linux-driver-x.x
 
  cd peak-linux-driver-x.x

Revision as of 04:03, 10 December 2014

Note: This project works only for PEAK System CAN interface (chardev) for USB: PCAN-USB

Download

File:Allegro hand linux.zip

Git Repo

https://github.com/simlabrobotics/allegro_hand_linux

Build and Run: "grasp"

sudo apt-get install cmake gcc g++ libpopt-dev

1. Download, build, and install PCAN-USB driver for Linux: libpcan. Note: v7.9 and v7.13 are tested.

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. Note: v2.0.3 is tested.

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 "out of source build" style.

unzip Allegro_hand_linux.zip
cd allegro_hand_linux
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

Note: Using cmake "out of source build" style, the entire build tree is created under "build" directory so that you can delete "build" directory without worrying about the sources.

5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)

6. Start the grasping program: "grasp"

./bin/grasp

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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