Contains the implementation of a class for the BarrettHand Supervisory and RealTime modules. More...
#include "BHandSupervisoryRealTime.h"
#include "BHand.h"
#include "bhand_parse.h"
Go to the source code of this file.
Defines | |
#define | THREADEND(err) |
Functions | |
void | allocate (COMMAND_RESULT *cResult) |
Contains the implementation of a class for the BarrettHand Supervisory and RealTime modules.
The BarrettHand API provides high-level control functions for the Barrett Hand that operates under in a supervisory mode or under a real time mode. This module needs to be initialized with a call to InitSoftware or Init.
If the API has been compiled to support serial communication then low-level access of the serial port methods that are used internally are exposed. These serial port methods may be used to support building a custom software interface to the BarrettHand. Barrett uses these methods to provide a bootloader for uploading new firmware outside the API.
Supervisory mode is the mode that the hand starts in after initialization. There are several useful commands such as open and close commands that will open and close fingers on the BarrettHand.
The Supervisory and RealTime modules contained here use the POCO C++ Foundation library for cross-platform multithreading.
RealTime mode allows control loops to be formed so that control and feedback data may be exchanged with the hand. This mode is used to control the hand directly.
Definition in file BHandSupervisoryRealTime.cpp.
#define THREADEND | ( | err | ) |
{ \ m_comErr = (err); \ if (pCallback) \ (*(pCallback))(m_bhand); \ break; \ }
Definition at line 476 of file BHandSupervisoryRealTime.cpp.