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Please download linux_BHand_tutorial.zip file and follow below steps. [[File:linux_BHand_tutorial.zip]]<br>
 
Please download linux_BHand_tutorial.zip file and follow below steps. [[File:linux_BHand_tutorial.zip]]<br>
'''linux_BHand_tutorial.zip''' contains CMakeList.txt, README and grasp directory.
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Also, you need to install BHand library. "libBHand": [[Grasping_Library_for_Linux]]
 
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Revision as of 10:03, 3 July 2019

BHand Library

You will make....

Please download linux_BHand_tutorial.zip file and follow below steps. File:Linux BHand tutorial.zip
Also, you need to install BHand library. "libBHand": Grasping_Library_for_Linux




Initialize CAN I/O thread and start.

// Open a CAN data channel
bool OpenCAN()
{
    printf(">CAN(%d): open\n", CAN_Ch);
 
    // CAN open
    int ret = command_can_open(CAN_Ch);
    if(ret < 0)
    {
        printf("ERROR command_can_open !!! \n");
        return false;
    }
 
    // initialize CAN I/O thread
    ioThreadRun = true;
    pthread_create(&hThread, NULL, ioThreadProc, 0);
    printf(">CAN: starts listening CAN frames\n");
 
    // set periodic communication parameters(period)
    printf(">CAN: Comm period set\n");
    short comm_period[3] = {3, 0, 0}; // millisecond {position, imu, temperature}
    ret = command_set_period(CAN_Ch, comm_period);
    if(ret < 0)
    {
        printf("ERROR command_set_period !!! \n");
        command_can_close(CAN_Ch);
        return false;
    }
 
    // servo on
    printf(">CAN: servo on\n");
    ret = command_servo_on(CAN_Ch);
    if(ret < 0)
    {
        printf("ERROR command_servo_on !!! \n");
        command_set_period(CAN_Ch, 0);
        command_can_close(CAN_Ch);
        return false;
    }
 
    return true;
}







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