Transmitting Control Torques - SimLab Allegro Hand User Manual

Transmitting Control Torques

Control inputs for the four joints in each finger should be packed in a single CAN frame. The sample
code below demonstrates how to encode four PWM inputs into an 8 byte data buffer and how to set
the CAN frame ID properly.
Code 6: Transmitting Control Torques
long Txid;
unsigned char data[8];
float torque2pwm = 800.0f
short pwm[4] = {
0.1*torque2pwm,
0.1*torque2pwm,
0.1*torque2pwm,
0.1*torque2pwm
};
if (findex >= 0 && findex < 4)
{
data[0] = (unsigned
data[1] = (unsigned
data[2] = (unsigned
data[3] = (unsigned
data[4] = (unsigned
data[5] = (unsigned
data[6] = (unsigned
data[7] = (unsigned
Txid = ((unsigned long)(ID_CMD_SET_TORQUE_1 + findex)<<6) |
canWrite(hCAN, Txid, data, 8, 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
char)( (pwm[0] >> 8) & 0x00ff);
char)(pwm[0] & 0x00ff);
char)( (pwm[1] >> 8) & 0x00ff);
char)(pwm[1] & 0x00ff);
char)( (pwm[2] >> 8) & 0x00ff);
char)(pwm[2] & 0x00ff);
char)( (pwm[3] >> 8) & 0x00ff);
char)(pwm[3] & 0x00ff);
((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
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