= 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.

== Latest Version: Libbarrett-1.2.0 ==

== Getting started ==
  1. [[Libbarrett/installation | Install Libbarrett]]
  1. After installation, look through the example code in your home directory: {{{~/libbarrett_examples/}}}
  1. 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.

Periodic tensioning of the WAM cables is advised at every ~80 hours of WAM usage. You may now calibrate your WAM using {{{bt-wam-autotension}}}.
Instructions for running {{{bt-wam-autotension}}} can be found here:
  http://support.barrett.com/wiki/WAM/Autotensioning

== Important links ==

* Libbarrett Installation Instructions: http://web.barrett.com/svn/libbarrett/installation/
* Third party libraries: http://web.barrett.com/svn/libbarrett/dependencies/
* API documentation: http://web.barrett.com/libbarrett/
* Current release tag:
{{{
svn checkout http://web.barrett.com/svn/libbarrett/tags/libbarrett-1.2.0
}}}
* Current release branch:
{{{
svn checkout http://web.barrett.com/svn/libbarrett/branches/1.x/ libbarrett-1.x
}}}
* Current development branch:
{{{
svn checkout http://web.barrett.com/svn/libbarrett/trunk/ libbarrett-trunk
}}}


== Documentation ==

* [[Libbarrett/Overview| Library overview]]
* [[Libbarrett/ChangeLog| Change log]]
* [[Libbarrett/ExamplePrograms| Example programs]]
* [http://web.barrett.com/libbarrett/ API documentation]