CAN Protocol Revision as of 21:15, 5 October 2012 by Alexalspach (Talk | contribs)
Contents |
CAN Communication
Baud-Rate
The CAN communication baud-rate is 1Mbps.
Non-Periodic Communication
Messages can be sent to initialize or stop CAN communication.
Periodic Communication
The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds the joint torques are calculated and the joint angles are updated.
CAN Frames
Standard CAN Packet
The standard CAN packet used for communication contains 8 bytes.
typedef struct{ unsigned char STD_EXT; unsigned long msg_id; //message identifier unsigned char data_length; // char data[8]; // data array } can_msg;
ID (Message Identifier)
The 4 byte integer CAN message is split into the command ID (26 bits), destination ID (3bits) and source ID (3 bits).
TABLE GOES HERE
Command Identifiers
TABLE GOES HERE
Source and Destination Identifiers
TABLE GOES HERE
Case-study: Softing CAN
Opening the CAN Communication Channel
CAN Initialization
Starting Periodic CAN Communication
Stopping Periodic CAN Communication
Transmitting Control Torques
Receiving Joint Angles
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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