CLI interface

You can use the CLI tool to test and configure the Allegro hand.

Usage

allegro_cli [-l] <can_interface>
allegro_cli [-ipv] [-d new_device_id] <can_interface> [<device_id>]

Options

-l            List devices
-i            Print device info
-p            Print joint positions
-v            Print joint velocities
-d id         Set device id

Example

• List devices :allegro_cli -l can0

• Device info :allegro_cli -i can0 0

• Print joint positions :allegro_cli -p can0 0

• Print joint velocities :allegro_cli -v can0 0

• Change device ID from 0 to 2 :allegro_cli -d 2 can0 0