QBSOFTHAND2 RESEARCH USER MANUAL —
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https://bitbucket.org/qbrobotics/qbdevice-api-7.x.x/src/production/
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https://cmake.org/
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int commGetMeasurements(comm_settings *file_descriptor, int device_id, short int
measurements[4])
: fills
"measurements"
with the position of the motor on the
qb SoftHand2
with
the given id, and returns 0 on success.
int commGetCurrents(comm_settings *file_descriptor, int device_id, short int
currents[2])
: fills
"currents"
with the current of the motor on the
qb SoftHand2
with the given
id, and returns 0 on success.
void commSetInputs(comm_settings *file_descriptor, int device_id, short int
inputs[2])
: sends a reference position command to the
qb SoftHand2
with the given id; the value is
expressed in motor ticks which lay in range
"0, 23000"
.
6.3.3 qbdevice C++ API v7
qbdevice C++ API v7 are available on qbrobotics
. The
based project
contains two
submodules
:
serial
: used to handle the communication with qbrobotics devices.
qbrobotics-driver
: used to control and set/get parameters from qbrobotics devices.
Cloning and compiling
In order to clone the project, it is necessary to run the following command:
git clone --recurse-submodules https:
//bitbucket.org/qbrobotics/qbdevice-api-7.x.x.git
Once the project is cloned, it is possible to compile qbrobotics libraries by executing the following
commands in
qbdevice-api-7.x.x
folder:
mkdir
build
cd
build
cmake ..
make
When the compilation is completed, the library binaries are within the folder build/qbrobotics-driver and
build/serial. They can be now used in your own application!
CRITICAL:
These commands are meant to be used by expert users only.
Содержание SoftHand2 Research
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