Short overview of the SDHLibrary-CPP and SDH architecture. More...
Short overview of the SDHLibrary-CPP and SDH architecture.
... // Include the cSDH interface include <sdh.h> // Create an instance "hand" of the class cSDH: cSDH hand; // Open communication to the SDH device via default serial port 0 == "COM1" hand.OpenRS232(); // Perform some action: // get the current actual axis angles of finger 0 std::vector<double> faa = hand.GetFingerActualAngle( 0 ); // modify these by decreasing the proximal and the distal axis angles: std::vector<double> fta = faa; fta[1] -= 10; fta[2] -= 10; // set modified angles as new target angles: hand.SetFingerTargetAngle( 0, fta ); // now make the finger move there: hand.MoveFinger( 0 ); // Finally close connection to SDH again (This automatically // switches off the axis controllers to prevent overheating): hand.Close();
Real example code is available in the demo-*.cpp code files, see e.g.