main.cpp
You can find main.cpp in grasp directory. There are 3 functions you have to edit.
Set pwm values to send
void MainLoop() { bool bRun = true; while (bRun) { int c = Getch(); switch (c) { case 'q': bRun = false; printf("### Turning off.... \n"); break; case '[': printf("[[[[[\n"); vars.pwm_demand[0] = (short)(-100); vars.pwm_demand[4] = (short)(-100); vars.pwm_demand[8] = (short)(-100); break; case ']': printf("]]]]]\n"); vars.pwm_demand[0] = (short)(100); vars.pwm_demand[4] = (short)(100); vars.pwm_demand[8] = (short)(100); break; case 'o': printf("zero torque\n"); vars.pwm_demand[0] = (short)(0); vars.pwm_demand[4] = (short)(0); vars.pwm_demand[8] = (short)(0); break; } } }
Send PWM by using command_set_torque().
// CAN communication thread static void* ioThreadProc(void* inst) { int id; int len; unsigned char data[8]; unsigned char data_return = 0; int i; while (ioThreadRun) { /* wait for the event */ while (0 == get_message(CAN_Ch, &id, &len, data, FALSE)) { switch (id) { case ID_RTR_FINGER_POSE_1: // check CAN protocol on wiki page 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)); // 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; } // send pwm for (int i=0; i<4;i++) { command_set_torque(CAN_Ch, i, &vars.pwm_demand[4*i]); } //print pwm for (int i=0; i<4; i++) { printf(">CAN(%d): Joint[%d] PWM : %d %d %d %d\n" , CAN_Ch, i, vars.pwm_demand[i*4+0], vars.pwm_demand[i*4+1], vars.pwm_demand[i*4+2], vars.pwm_demand[i*4+3]); } break; } default: printf(">CAN(%d): unknown command %d, len %d\n", CAN_Ch, id, len); } } } return NULL; }
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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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