= Libbarrett = Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-280/282 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-1.2.4 == == 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://support.barrett.com/wiki/Libbarrett/Installation * API documentation: http://web.barrett.com/libbarrett/ * Source: https://github.com/BarrettTechnology/libbarrett.git == Documentation == * [http://web.barrett.com/support/WAM_Documentation/WAM_Training_Documentation.pdf WAM Training Documentation] * [[Libbarrett/Overview| Library overview]] * [[Libbarrett/ChangeLog| Change log]] * [[Libbarrett/ExamplePrograms| Example programs]] * [http://web.barrett.com/libbarrett/ API documentation]