Can Initialization; Starting Periodic Can Communication; Stopping Periodic Can Communication - SimLab Allegro Hand User Manual

CAN Initialization

Code 3: Opening the CAN Communication Channel
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_SET_PERIOD<<6) |
data[0] = (unsigned char)period_msec;
canWrite(hCAN, Txid, data, 1, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_SET_MODE_TASK<<6) |
canWrite(hCAN, Txid, data, 0, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) |
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) |
canWrite(hCAN[ch-1], Txid, data, 0, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_SET_SYSTEM_ON<<6) |
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) |
canWrite(hCAN[ch-1], Txid, data, 0, STD);
Copyright 2008-2012 SimLab Co., Ltd. All rights reserved.
A L L E G R O H A N D U S E R S M A N U A L
((unsigned long)ID_COMMON <<3) |
((unsigned
((unsigned
((unsigned
((unsigned
((unsigned
((unsigned
long)ID_COMMON <<3) | ((unsigned
long)ID_COMMON <<3) | ((unsigned
long)ID_COMMON <<3) | ((unsigned
long)ID_COMMON <<3) | ((unsigned
long)ID_COMMON <<3) | ((unsigned
long)ID_DEVICE_MAIN);
long)ID_DEVICE_MAIN);
long)ID_DEVICE_MAIN);
long)ID_DEVICE_MAIN);
long)ID_DEVICE_MAIN);
long)ID_DEVICE_MAIN);
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