= Libbarrett =

Libbarrett is a real time controls library written in C++ that runs the following Barrett products:
  * WAM Arm
  * Safety Module
  * BH8-280 model BarrettHands
  * Force/Torque Sensor

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.

== Important links ==

Download the latest version: 

Third party libraries: http://web.barrett.com/svn/libbarrett/dependencies/

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/Installation| Installation instructions]]
* [[Libbarrett/ExamplePrograms| Example Programs]]