includes HTML generated documentation that describes all of the classes, variables, and methods
that users should use in detail and gives examples.
The API is written in C++ and compiled for 32-bit versions of Ubuntu 9.10 and Windows XP. It
is a typical C++ library, providing a class from which you instantiate one BHand object and use it
for all communications. The library uses a multithreaded mechanism for sending commands,
which allows both synchronous and asynchronous access to the low-level thread and ensures that
all communications are executed with high priority. The low-level thread manages all input and
output buffers and makes controlling the BarrettHand™ easy.
Firmware
The BarrettHand™ has firmware that resides on the control electronics inside the palm. The
firmware is a compiler generated text file that may be uploaded to the hand through the boot
loader and the configuration tab in the GUI. The firmware receives commands, controls the
motors, sets and retrieves properties, and reads or writes to the EEPROM. See Sections 4 through
6 for more information on firmware commands and properties.
1.1.8
Maintenance Kit
Included in each BarrettHand™ package is a maintenance kit. Use the maintenance kit in
accordance with the instructions in Section 7. The maintenance kit now includes the following:
•
Mobil 1® synthetic grease lubricant in syringe
•
Hex Wrench Kit (1.0 mm, 1.27 mm, 2.0 mm, etc.)
•
2 mm Hex Driver
•
Torque wrench
•
Loctite 222
•
Tweezers
•
Pull tool
•
Finger Angle Fixture
•
Phillips Head Screwdriver
•
Flathead Screwdriver
•
2 Screws with ORings
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