Version 2 (modified by edison, 8 years ago) (diff)

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Building a Control PC for Barrett products

General Configuration

You should choose an operating system based on the type of PC hardware you have. The Shuttle PC and the Travla C137 PC shipped with either a Janz or esd CAN card. Newer WAMs with embedded PCs ship with a Peak CAN card. If you are ambitious, you can use your own PC and CAN card.

  • InstallRTAI? - Install Kernel 2.6.16.16 + RTAI Magma (Janz/esd CAN card)
  • InstallXenomai - Install Kernel 2.6.24.2 + Xenomai 2.4.2 (Ubuntu 7.10, Peak PCI CAN card, Peak CAN driver)
  • InstallXenomai25? - Install Kernel 2.6.31.4 + Xenomai 2.5.2 (Ubuntu 9.10, Peak PCI CAN card, Xenomai SocketCAN driver) - Includes from-scratch and simple instructions, primarily for CompactFlash installation
  • InstallXenomai25-PC? Install Kernel 2.6.31.4 + Xenomai 2.5.5.2 (Ubuntu 9.10, Peak PCI CAN card, Xenomai SocketCAN driver) - Simple instructions, primarily for PC hard drive installation

Control PC Maintenance

  • SoftwareUpdate - Update instructions to get the latest copy of the Barrett control software (btclient)

BarrettHand PC Requirements

The BH8-SERIES control software was written for computers running Windows XP or Ubuntu 9.10. The BarrettHand Control GUI requires a good amount of CPU power and memory for running this wxWidgets based application. Barrett Technology requires the minimum specs for using the corresponding operating system. A processor with a CPU clock speed of 1 GHz or greater, 1 GB of RAM, at least a Gigabyte of free disk space, and a modern graphics card is recommended. Communications requires either one available USB port for the Peak USB to CAN adapter for the BH8-280 hand or a 9-pin serial port for BH8-262 hand.