Difference between revisions of "BHand library"
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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 | const double tau_cov_const_v4 = 1200.0; // 1200.0 for SAH040xxxxx | ||
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Revision as of 16:59, 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
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
- Add ComputeTorque function to get desired torque. In this part, you have to make sure that
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)); // counting 4 fingers // If you have received all four finger data, set new desired torque. // This can create a stable interval time of 3 ms to prevent overshoot. 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; }
- Make more commands by using BHand library api.
switch (c) { case 'q': if (pBHand) pBHand->SetMotionType(eMotionType_NONE); bRun = false; break; case 'h': if (pBHand) pBHand->SetMotionType(eMotionType_HOME); break; case 'r': if (pBHand) pBHand->SetMotionType(eMotionType_READY); break; case 'g': if (pBHand) pBHand->SetMotionType(eMotionType_GRASP_3); break; case 'k': if (pBHand) pBHand->SetMotionType(eMotionType_GRASP_4); break; case 'p': if (pBHand) pBHand->SetMotionType(eMotionType_PINCH_IT); break; case 'm': if (pBHand) pBHand->SetMotionType(eMotionType_PINCH_MT); break; case 'a': if (pBHand) pBHand->SetMotionType(eMotionType_GRAVITY_COMP); break; case 'e': if (pBHand) pBHand->SetMotionType(eMotionType_ENVELOP); break; case 'f': if (pBHand) pBHand->SetMotionType(eMotionType_NONE); break; }
- Define functions
// Load and create grasping algorithm bool CreateBHandAlgorithm() { if (RIGHT_HAND) pBHand = bhCreateRightHand(); else pBHand = bhCreateLeftHand(); if (!pBHand) return false; pBHand->SetMotionType(eMotionType_NONE); pBHand->SetTimeInterval(delT); return true; } // Destroy grasping algorithm void DestroyBHandAlgorithm() { if (pBHand) { #ifndef _DEBUG delete pBHand; #endif pBHand = NULL; } } // Print program information and keyboard instructions void PrintInstruction() { printf("--------------------------------------------------\n"); printf("Keyboard Commands:\n"); printf("H: Home Position (PD control)\n"); printf("R: Ready Position (used before grasping)\n"); printf("G: Three-Finger Grasp\n"); printf("K: Four-Finger Grasp\n"); printf("P: Two-finger pinch (index-thumb)\n"); printf("M: Two-finger pinch (middle-thumb)\n"); printf("E: Envelop Grasp (all fingers)\n"); printf("A: Gravity Compensation\n\n"); printf("F: Servos OFF (any grasp cmd turns them back on)\n"); printf("Q: Quit this program\n"); printf("--------------------------------------------------\n\n"); }
- Edit main()
int main() { printf("myAllegrodHand: "); if (RIGHT_HAND) printf("Right Hand, v%i.x\n\n", HAND_VERSION); else printf("Left Hand, v%i.x\n\n", HAND_VERSION); PrintInstruction(); memset(&vars, 0, sizeof(vars)); memset(q, 0, sizeof(q)); memset(q_des, 0, sizeof(q_des)); memset(tau_des, 0, sizeof(tau_des)); memset(cur_des, 0, sizeof(cur_des)); if (CreateBHandAlgorithm() && OpenCAN()) MainLoop(); CloseCAN(); DestroyBHandAlgorithm(); return 0; }
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