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| − | ==CAN Device Set up==
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| − | 1. Install necessary packages.
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| − | sudo apt-get install cmake gcc g++ libpopt-dev
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| − | 2. Download, build, and install PCAN-USB driver for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download peak-linux-driver]. '''Note:''' v8.8.0 tested.
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| − | tar -xzvf peak-linux-driver-x.x.tar.gz
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| − | cd peak-linux-driver-x.x
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| − | make NET=NO
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| − | sudo make install
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| − | sudo modprobe pcan
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| − | 3. Download, build, and install PCAN-Basic API for Linux: [http://www.peak-system.com/fileadmin/media/linux/index.htm#download peak-basic-api]. '''Note:''' v4.2.0 is tested.
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| − | tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz
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| − | cd PCAN_Basic_Linux-x.x.x/pcanbasic
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| − | make
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| − | sudo make install
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| − | 4. Download, build, and install Grasping Library for Linux, "libBHand": [[Grasping_Library_for_Linux]]
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| − | ==Linux Project==
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| − | 1. Build Allegro Hand Project using cmake "out of source build" style.<br>
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| − | Clone or Download linux project
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| − | '''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project v4]
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| − | cd allegro_hand_linux
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| − | mkdir build
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| − | cd build
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| − | cmake ..
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| − | make
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| − | make install
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| − | 2. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)
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| − | 3. Start the grasping program: "grasp"
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| − | ./bin/grasp
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| − | 4. Power on Allegro Hand.
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| − | 5. Use keyboard command to move Allegro Hand!!!!
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| − | *[[BHand library API]]
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