Wraptor™ User Manual
service@barrett.com
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D2000, Version: AB.00
Page 8 of 15
4 Supervisory Control
Supervisory mode leverages the primary controller onboard the Wraptor™. This processor interprets incoming Supervisory
Commands and then applies control signals across the set of seven (7) motion-control microprocessors. Supervisory mode
allows you to command individual or multiple motors to close, open, and move to specific positions; it also provides for
setting the various configuration parameters and reporting positions and torques.
At the simplest level, Supervisory mode allows you to type and receive ASCII text characters on a terminal (using any type
of computer hardware or operating system, such as UNIX, Macintosh, PalmPilot, and proprietary robot controllers, etc.). To
automate grasping applications, you can write programs, scripts, or macros that send and receive these text characters through
an Ethernet connection (e.g. the optional Wraptor™ C-Function Library).
4.1 Commands
When the Wraptor™ firmware is ready to process a command, it prints a prompt of “=> “ to your host computer. A
command can then be entered as a single line, terminated by a carriage return character (0x0d). Once the firmware receives
the carriage return, it processes the line, executes the command, and then prints a new prompt. Once a command has been
started, no configuration changes can be made until the command has completed.
Many of the commands take one or more parameters; space characters should separate these from the command and each
other. The command syntax is:
<motorPrefixes><command> [<Arguments>]
Motor commands refer to one or more of the seven motors. By default, all seven motors are affected and the Wraptor™ will
simulate the BarrettHand’s functionality. To select fewer than seven motors, a motor prefix must be placed before the
command (with no space between the prefix and the command).
The motor prefixes and the resulting motors selected are:
Table 4 – Motor Prefixes
Value
Motor
1
Finger 1 (motors 1 and 5)
2
Finger 2 (motors 2 and 6)
3
Finger 3 (motors 3 and 7)
4
Spread (motor 4)
5
Finger 1 outer link (motor 5)
6
Finger 2 outer link (motor 6)
7
Finger 3 outer link (motor 7)
G
Grasp (fingers 1, 2, and 3)
S
Spread (motor 4)
IL
Inner Links (motors 1, 2, and 3)
OL
Outer Links (motors, 5, 6, and 7)
<No Motor Specified>
All motors
Example:
"12SET DP 8000" sets the default position for fingers 1 and 2 to 8000 GCL counts
Supervisory mode commands are organized into the following categories:
1)
Movement Commands
2)
Motor Parameter Commands
3)
Administrative Commands
