Version 12 (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

  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