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
- Install Libbarrett
- After installation, look through the example code in your home directory: ~/libbarrett_examples/
- 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:
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
