QB Robotics qb SoftClaw, Общее руководство

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SOFTCLAW — 30
20
https://qbrobotics.com/product/qb-softclaw/
std::cout << "INFO: \tstrong grasp" << std::endl;
usleep(5000000);
commands[0] = -2200;
// fully open value
commands[1] = 0; // must be always 0
commSetPosStiff(&file_descriptor, device_id, commands);
std::cout <<
"INFO: \tqb SoftClaw fully open" << std::endl;
usleep(1000000);
// ...
commActivate(&file_descriptor, device_id, FALSE); //deactivate motor
usleep(10000);
result = commGetActivate(&file_descriptor, device_id, &status);
if (result != 0) {
std::cout << "ERROR: fails while deactivating motor" << std::endl;
return -1;
}
std::cout <<
"Demo finished..." << std::endl;
closeRS485(&file_descriptor);
return 0;
}
To compile the previous example, first of all follow the steps described in api installation section
(see Page
27)
. Secondly we suggest to create a new .cpp file (e.g. claw_example.cpp ) and copy and paste the code
above. At this point create a new folder, for example named include, in which you have to copy
qbmove_communications.h
and
commands.h
. Then copy and paste the generated static
library
"libqbmove_comm.a"
in the folder containing the code and in a terminal shell execute the
commands:
g++ claw_example.cpp libqbmove_comm.a -o claw_example
. /claw_example
6.3 Configuration GUI
6.3.1 Installation
You can download our GUI from our website
20
(download area).
To install all the requirements for your specific operating system, please refer to the how-to section
(see
Page 35)
.
For Linux users: use
chmod +x
on a the downloaded file and make it executable. Right click
on your script and chose Properties -> Permissions -> Allow executing file as program ,
leaves you with the exact same result as the command in terminal.
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