| 17 | 17 | You can send discrete target endpoint positions (property E) to each of the four motors (or any subset). The BarrettHand will generate its own trapezoidal velocity profile to accelerate from its present position (using ACCEL) until it reaches max velocity (MV), then it will decelerate to reach the target endpoint position at zero velocity. You should not stream positions in this mode. This mode is intended for discrete motion commands separated in time, usually several seconds apart. The BarrettHand is aware of its own joint stops in this mode and will not let you drive the fingers past their joint stops. The BarrettHand will also limit the max finger velocity in this mode (to property MV). There is no minimum recommended update rate, so this mode works well for high-latency applications. However you should not send a new endpoint value until the present motion is complete. The MODE property of each finger will drop from 5 (TRAP) to either 3 (POS) or 0 (IDLE) when the motion is complete. If the HOLD property is set to 1, the MODE will drop from 5 to 3, and the finger will actively hold position at the end of a trapezoidal move. If the HOLD property is set to 0, the MODE will drop from 5 to 0, and the motor will be able to move freely at the end of a trapezoidal move. The HOLD property is especially applicable to the "Spread" motor as it is driven by a backdrivable spur gear instead of a non-backdrivable worm gear as is found in the finger motor drives. |
