Version 11 (modified by dc, 8 years ago) (diff)

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Libbarrett

Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-280 BarrettHand.

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation.

Getting started

Here's how to get started:

  1. Download the library, unzip it, then install it by following the directions in the README.txt file.
  2. After installation, look through the example code in your home directory: ~/libbarrett_examples/
  3. When you're ready, copy the ~/libbarrett_examples/CMakeLists.txt file to another directory to start writing your own code.

You may also want to calibrate your WAM using the bt-wam-zerocal and bt-wam-gravitycal programs that are installed with the library. Instructions for running bt-wam-zerocal can be found here:

http://web.barrett.com/support/WAM_Documentation/zero_calibration_procedure.pdf

Running bt-wam-gravitycal is pretty self-explanatory. Let us know if you have any problems.

Documentation