Line 13: Line 13:
 
{{AHAS Latest Version}}
 
{{AHAS Latest Version}}
 
{{alert success header}}
 
{{alert success header}}
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]
+
*'''Download DMLs for your hand: ''' [[File:SAH030BL030 DMLs.zip]]
 
{{alert success footer}}
 
{{alert success footer}}
  
Line 22: Line 22:
  
 
==Offsets and Directions==
 
==Offsets and Directions==
===SAH030AR024 (Right)===
+
===SAH020CR018 (Right)===
{{Offsets and Directions|SAH030AR024}}
+
{{Offsets and Directions|SAH020CR018}}
 +
 
 +
 
 +
===SAH030BL030 (Left)===
 +
{{Offsets and Directions|SAH030BL030}}

Revision as of 15:37, 24 July 2014


TUMunchenLogo.jpg
Serial Number: SAH020CR018 (Right, v2.0)
Serial Number: SAH030BL030 (Left, v3.0)



Contents

Getting Started

More information is accessible using the navigation bar at the top of the page.



Allegro Hand Application Studio (AHAS)

AHAS Download

Allegro Hand Application Studio (License removal version)

Below you can download Allegro Hand Application Studio for your Allegro Hand.
In this version, the license is removed so you can execute AHAS immediately after installation.
And the slider section has been removed.
Please refer to Allegro Application Studio (Installation) for installation instructions.

setup_AllegroHand_1.14.2_b18020101.zip (for AH v3.0)

Note: This AHAS installation is not yet configured for your hand. See DMLs section below before installing.

DMLs

DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.

After Installing AHAS, please locate and download the DML files for your hand below (according to your hand's serial number). Replace the files of the same name in the 'devices' directory (below) with the files downloaded from the wiki.

C:\Program Files\Wonik Robotics\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

If you chose an installation directory other than the default when installing, you can find your DMLs here:

[Installation Location]\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices



RoboticsLab Project

See the Allegro Hand RoboticsLab Project page for source code and documentation.


Visual Studio Project

Note: This software does not require RoboticsLab.

See the Allegro Hand MSVS Project page for source code and documentation.



Offsets and Directions

SAH020CR018 (Right)

Note: These are the offsets and directions for your Allegro Hand

Last updated:
--Alex Alspach (talk) 14:50, 14 November 2013 (KST)

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 -444 + +
0 1 -64772 - +
0 2 -582 + +
0 3 -1405 + +
1 0 -611 + +
1 1 -65329 - -
1 2 335 + -
1 3 -1012 + +
2 0 1247 + -
2 1 -65499 - +
2 2 -348 + +
2 3 -495 + +
3 0 -225 + +
3 1 384 + +
3 2 -66607 - +
3 3 -64771 - +


Template:SAH020CR018 Offsets and Directions (ROS)


SAH030BL030 (Left)

Note: These are the offsets and directions for your Allegro Hand

Last updated:
--Alex Alspach (talk) 16:05, 24 July 2014 (KST)

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 43 + +
0 1 1493 + +
0 2 -401 + +
0 3 -120 + +
1 0 -686 + +
1 1 730 + +
1 2 -107 + +
1 3 -181 + +
2 0 -344 + +
2 1 1678 + +
2 2 -75 + +
2 3 762 + +
3 0 825 + +
3 1 864 + +
3 2 1117 + +
3 3 30 + +


Template:SAH030BL030 Offsets and Directions (ROS)





Whos here now:   Members 0   Guests 1   Bots & Crawlers 0