(Allegro Hand Application Studio (AHAS))
(Allegro Hand Application Studio (AHAS))
Line 13: Line 13:
  
 
==Allegro Hand Application Studio (AHAS)==
 
==Allegro Hand Application Studio (AHAS)==
'''Note:''' Please see the ''DMLs'' section below before uninstalling your current version of AHAS.
+
'''Note:''' Please see the ''DMLs'' section below before installing AHAS.
{{Software Update Download|09/13/2013|This version should address graphics related issues.|Make sure to copy your current DMLs and fully uninstall AHAS before installing this new version.|Allegro Hand Setup 130912.iso}}
+
  
 
{{AHAS Download|Allegro Hand Setup CR018 Weiss|Make sure to copy the DMLs (included) for your hand to the ''devices'' directory of your new AHAS installation. Instructions can be found in the included README file and also below.}}
 
{{AHAS Download|Allegro Hand Setup CR018 Weiss|Make sure to copy the DMLs (included) for your hand to the ''devices'' directory of your new AHAS installation. Instructions can be found in the included README file and also below.}}
Line 20: Line 19:
  
 
===DMLs===
 
===DMLs===
DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.  
+
After installing, you must copy your hand-specific DML (device description) files to the proper directory of your AHAS installation. These files include motor directions and encoder offsets.
  
Please locate the DML files in your current AHAS installation and copy them to a safe place before uninstalling. After installing the new AHAS version, you will need to copy your original DML files to the newly installed AHAS.
+
In the installation disk's root directory, locate the folder titled 'devices_SAH020*****'. Copy every file in this folder and replace the corresponding files in the AHAS devices directory.
  
 
DML files can be found here:
 
DML files can be found here:

Revision as of 14:19, 14 November 2013


WeissLogo.png
Serial Number: SAH020CR018 (Right)


Contents

Getting Started

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



RoboticsLab for Allegro Hand

See the Allegro Hand RoboticsLab Project for source code and instructions.


Allegro Hand Application Studio (AHAS)

Note: Please see the DMLs section below before installing AHAS.

Allegro Hand Application Studio!

Below you can download your copy of Allegro Application Studio for your Allegro Hand.
Please refer to Allegro Application Studio (Installation) for installation instructions.

File:Allegro Hand Setup CR018 Weiss

File:Make sure to copy the DMLs (included) for your hand to the devices directory of your new AHAS installation. Instructions can be found in the included README file and also below. (for AH v3.0)


DMLs

After installing, you must copy your hand-specific DML (device description) files to the proper directory of your AHAS installation. These files include motor directions and encoder offsets.

In the installation disk's root directory, locate the folder titled 'devices_SAH020*****'. Copy every file in this folder and replace the corresponding files in the AHAS devices directory.

DML files can be found here:

C:\Program Files\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices



Offsets and Directions

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)


NI USB-CAN

File:NI-CAN DRIVER v274.zip





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