= 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. 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. == Important links == * Download the latest version: http://web.barrett.com/support/WAM_Installer/libbarrett-1.0.0.tar.gz * Third party libraries: http://web.barrett.com/svn/libbarrett/dependencies/ * API documentation: http://web.barrett.com/libbarrett/ * 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]