A L L E G R O H A N D U S E R S M A N U A L
Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.
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CAN Initialization
Code 3: Opening the CAN Communication Channel
long
Txid;
unsigned
char
data[8];
Txid = ((
unsigned
long
)ID_CMD_SET_PERIOD<<6) | ((
unsigned long
)ID_COMMON <<3) | ((
unsigned long
)ID_DEVICE_MAIN);
data[0] = (
unsigned char
)period_msec;
canWrite(hCAN, Txid, data, 1, STD);
Sleep(10);
Txid = ((
unsigned long
)ID_CMD_SET_MODE_TASK<<6) | ((
unsigned long
)ID_COMMON <<3) | ((
unsigned long
)ID_DEVICE_MAIN);
canWrite(hCAN, Txid, data, 0, STD);
Sleep(10);
Txid = ((
unsigned long
)ID_CMD_QUERY_STATE_DATA<<6) | ((
unsigned long
)ID_COMMON <<3) | ((
unsigned long
)ID_DEVICE_MAIN);
canWrite(hCAN, Txid, data, 0, STD);
Starting Periodic CAN Communication
When you start periodic CAN communication, joint angles are automatically updated according to the
torque control input.
Code 4: Starting Periodic CAN Communication
long
Txid;
unsigned char
data[8];
Txid = ((
unsigned long
)ID_CMD_QUERY_STATE_DATA<<6) | ((
unsigned
long
)ID_COMMON <<3) | ((
unsigned
long
)ID_DEVICE_MAIN);
canWrite(hCAN[ch-1], Txid, data, 0, STD);
Sleep(10);
Txid = ((
unsigned
long
)ID_CMD_SET_SYSTEM_ON<<6) | ((
unsigned
long
)ID_COMMON <<3) | ((
unsigned
long
)ID_DEVICE_MAIN);
canWrite(hCAN[ch-1], Txid, data, 0, STD);
Stopping Periodic CAN Communication
Code 5: Stopping Periodic CAN Communication
long
Txid;
unsigned char
data[8];
Txid = ((
unsigned
long
)ID_CMD_SET_SYSTEM_OFF<<6) | ((
unsigned
long
)ID_COMMON <<3) | ((
unsigned
long
)ID_DEVICE_MAIN);
canWrite(hCAN[ch-1], Txid, data, 0, STD);
Содержание Allegro Hand
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