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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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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