main_compliantfingers.cc

This example demonstartes the BHandForce::adjustForce() method.

The force should be adjustet to zero by each finger. So, if you apply a force on a fingertip it will comply.

// ***************************************************************************
//                           main_compliantfingers.cc
//                            Programm which demonstrates the adjustForce() function
//                            of each finger
//
//    copyright            : (C) 2004 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#include <iostream>
#include "bhandforcekin.h"



int main(int argc, char *argv[])
{

  if ((argc != 2)){
    std::cerr << "** usage: compliantFingers <serial port> \n" << std::endl;
    return -1;
   }

  BHandForceKin hand(*++argv);

  try{
    hand.init();
    hand.open(FINGERS);
    hand.closeSpread();
    hand.initForceSensor(FINGERS);
  }
  catch(BHandException e){

    std::cerr << e << std::endl;
    exit(-1);
  }

  try{
    while(42){
     hand.adjustForce(FINGERS, 0);
   }

     hand.stop();
  }
  catch (BHandException e){
    std::cout << "\t ** MAINFORCETEST::Catched BHandException" << std::endl;
    std::cout << e << std::endl;
  }
  catch (BHMotorException e){
    std::cout << "\t ** MAINFORCETEST::Catched BMotorException" << std::endl;
    std::cout << e << std::endl;
  }

  return 0;
}

---

Tim Baier bhandlib v0.25

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