Line 7: Line 7:
 
<br>
 
<br>
  
Include BHand library.
+
====Edit main.cpp====
 +
- Include BHand library.
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
 
#include <BHand/BHand.h>
 
#include <BHand/BHand.h>
 
</syntaxhighlight>
 
</syntaxhighlight>
  
Variable declaration for BHand library
+
- Variable declaration for BHand library
 
<syntaxhighlight lang="cpp">
 
<syntaxhighlight lang="cpp">
 
// USER HAND CONFIGURATION
 
// USER HAND CONFIGURATION
Line 24: Line 25:
 
double tau_des[MAX_DOF]; // desired joint torque
 
double tau_des[MAX_DOF]; // desired joint torque
 
double cur_des[MAX_DOF]; // current joint torque   
 
double cur_des[MAX_DOF]; // current joint torque   
 +
const double tau_cov_const_v4 = 1200.0; // 1200.0 for SAH040xxxxx
 +
</syntaxhighlight>
 +
 +
-
 +
<syntaxhighlight lang="cpp">
 +
 +
</syntaxhighlight>
 +
 +
- Additional function declarations
 +
<syntaxhighlight lang="cpp">
 +
// functions declarations
 +
char Getch();
 +
void MainLoop();
 +
bool OpenCAN();
 +
void CloseCAN();
 +
bool CreateBHandAlgorithm(); // create
 +
void DestroyBHandAlgorithm(); // destroy
 +
void ComputeTorque(); // torque compute
 +
</syntaxhighlight>
 +
 +
-
 +
<syntaxhighlight lang="cpp">
 +
case ID_RTR_FINGER_POSE_1:
 +
case ID_RTR_FINGER_POSE_2:
 +
case ID_RTR_FINGER_POSE_3:
 +
case ID_RTR_FINGER_POSE_4:
 +
{
 +
    int findex = (id & 0x00000007);
 +
 +
    vars.enc_actual[findex*4 + 0] = (short)(data[0] | (data[1] << 8));
 +
    vars.enc_actual[findex*4 + 1] = (short)(data[2] | (data[3] << 8));
 +
    vars.enc_actual[findex*4 + 2] = (short)(data[4] | (data[5] << 8));
 +
    vars.enc_actual[findex*4 + 3] = (short)(data[6] | (data[7] << 8));
 +
    data_return |= (0x01 << (findex));
 +
 +
    if (data_return == (0x01 | 0x02 | 0x04 | 0x08))
 +
    {
 +
        // convert encoder count to joint angle
 +
        for (i=0; i<MAX_DOF; i++)
 +
        {
 +
            q[i] = (double)(vars.enc_actual[i])*(333.3/65536.0)*DEG2RAD;
 +
        }
 +
 +
        ComputeTorque();
 +
 +
        // convert desired torque to desired current and PWM count
 +
        for (int i=0; i<MAX_DOF; i++)
 +
        {
 +
            cur_des[i] = tau_des[i];
 +
            // set limit
 +
            if (cur_des[i] > 1.0) cur_des[i] = 1.0;
 +
            else if (cur_des[i] < -1.0) cur_des[i] = -1.0;
 +
        }
 +
        for (int i=0; i<4;i++)
 +
        {
 +
            vars.pwm_demand[i*4+0] = (short)(cur_des[i*4+0]*tau_cov_const_v4);
 +
            vars.pwm_demand[i*4+1] = (short)(cur_des[i*4+1]*tau_cov_const_v4);
 +
            vars.pwm_demand[i*4+2] = (short)(cur_des[i*4+2]*tau_cov_const_v4);
 +
            vars.pwm_demand[i*4+3] = (short)(cur_des[i*4+3]*tau_cov_const_v4);
 +
 +
            command_set_torque(CAN_Ch, i, &vars.pwm_demand[4*i]);
 +
        }
 +
        data_return = 0;
 +
    }
 +
    break;
 +
}
 
</syntaxhighlight>
 
</syntaxhighlight>

Revision as of 16:46, 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

Edit main.cpp

- Include BHand library.

#include <BHand/BHand.h>

- Variable declaration for BHand library

// USER HAND CONFIGURATION
const bool	RIGHT_HAND = true;
const int	HAND_VERSION = 4;
 
// for BHand library
BHand* pBHand = NULL;
double q[MAX_DOF]; // joint position
double q_des[MAX_DOF]; // desired joint position used in joint pd control motion
double tau_des[MAX_DOF]; // desired joint torque
double cur_des[MAX_DOF]; // current joint torque  
const double tau_cov_const_v4 = 1200.0; // 1200.0 for SAH040xxxxx

-

 

- Additional function declarations

// functions declarations
char Getch();
void MainLoop();
bool OpenCAN();
void CloseCAN();
bool CreateBHandAlgorithm(); // create
void DestroyBHandAlgorithm(); // destroy
void ComputeTorque(); // torque compute

-

case ID_RTR_FINGER_POSE_1:
case ID_RTR_FINGER_POSE_2:
case ID_RTR_FINGER_POSE_3:
case ID_RTR_FINGER_POSE_4:
{
    int findex = (id & 0x00000007);
 
    vars.enc_actual[findex*4 + 0] = (short)(data[0] | (data[1] << 8));
    vars.enc_actual[findex*4 + 1] = (short)(data[2] | (data[3] << 8));
    vars.enc_actual[findex*4 + 2] = (short)(data[4] | (data[5] << 8));
    vars.enc_actual[findex*4 + 3] = (short)(data[6] | (data[7] << 8));
    data_return |= (0x01 << (findex));
 
    if (data_return == (0x01 | 0x02 | 0x04 | 0x08))
    {
        // convert encoder count to joint angle
        for (i=0; i<MAX_DOF; i++)
        {
            q[i] = (double)(vars.enc_actual[i])*(333.3/65536.0)*DEG2RAD;
        }
 
        ComputeTorque();
 
        // convert desired torque to desired current and PWM count
        for (int i=0; i<MAX_DOF; i++)
        {
            cur_des[i] = tau_des[i];
            // set limit
            if (cur_des[i] > 1.0) cur_des[i] = 1.0;
            else if (cur_des[i] < -1.0) cur_des[i] = -1.0;
        }
        for (int i=0; i<4;i++)
        {
            vars.pwm_demand[i*4+0] = (short)(cur_des[i*4+0]*tau_cov_const_v4);
            vars.pwm_demand[i*4+1] = (short)(cur_des[i*4+1]*tau_cov_const_v4);
            vars.pwm_demand[i*4+2] = (short)(cur_des[i*4+2]*tau_cov_const_v4);
            vars.pwm_demand[i*4+3] = (short)(cur_des[i*4+3]*tau_cov_const_v4);
 
            command_set_torque(CAN_Ch, i, &vars.pwm_demand[4*i]);
        }
        data_return = 0;
    }
    break;
}




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