sdhiod

sdhiod is a ach-daemon for talking to schunk SDH hands on a CAN network. The CAN communication is handled by libsdh (there's a deb on thebrain), and sdh_wrap. The sdhiod daemon presents the same interface as other motor-type daemons (amciod, pciod): we post Somatic__MotorCmd messages and receive Somatic__MotorState messages.

This daemon can be run from the command line, or started in a start script (preferred)

For detailed API overview, see the Doxygen, and in particular this page