Difference between revisions of "Allegro Hand Linux Project"
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==Build and Run: "grasp"== | ==Build and Run: "grasp"== | ||
+ | |||
+ | 0. Install necessary packages. | ||
+ | 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] | + | 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 | ||
make NET=NO | make NET=NO | ||
sudo make install | sudo make install | ||
+ | sudo modprobe pcan | ||
− | 2. Download, build, and install PCAN-Basic API for Linux: [http://www.peak-system.com/Software-APIs.305.0.html?&L=1 libpcanbasic] | + | 2. Download, build, and install PCAN-Basic API for Linux: [http://www.peak-system.com/Software-APIs.305.0.html?&L=1 libpcanbasic]. '''Note:''' v2.0.3 is tested. |
tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz | tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz | ||
cd PCAN_Basic_Linux-x.x.x/pcanbasic | cd PCAN_Basic_Linux-x.x.x/pcanbasic | ||
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6. Start the grasping program: "grasp" | 6. Start the grasping program: "grasp" | ||
− | bin/grasp | + | ./bin/grasp |
7. Power on Allegro Hand. | 7. Power on Allegro Hand. |
Latest revision as of 19:23, 12 December 2014
Note: This project works only for PEAK System CAN interface (chardev) for USB: PCAN-USB
[edit] Download
[edit] Git Repo
https://github.com/simlabrobotics/allegro_hand_linux
[edit] Build and Run: "grasp"
0. Install necessary packages.
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 sudo modprobe pcan
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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