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[PythonExample] change servo ids according to right/left hand #40

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[PythonExample] change servo ids according to right/left hand #40

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45 changes: 24 additions & 21 deletions PythonExample/AmazingHand_Demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,11 @@
timeout=0.5,
)


def sid(i):
# logical ID: 1..8
# right hand: 1..8
# left hand: 11..18
return i + 10 if Side == 2 else i

def main():

Expand Down Expand Up @@ -232,49 +236,48 @@ def Fuck():
Move_Ring (90, -90, MaxSpeed)
Move_Thumb (75, 0, MaxSpeed)

def Move_Index (Angle_1,Angle_2,Speed):

c.write_goal_speed(1, Speed)
def Move_Index(Angle_1, Angle_2, Speed):
c.write_goal_speed(sid(1), Speed)
time.sleep(0.0002)
c.write_goal_speed(2, Speed)
c.write_goal_speed(sid(2), Speed)
time.sleep(0.0002)
Pos_1 = np.deg2rad(MiddlePos[0]+Angle_1)
Pos_2 = np.deg2rad(MiddlePos[1]+Angle_2)
c.write_goal_position(1, Pos_1)
c.write_goal_position(2, Pos_2)
Pos_1 = np.deg2rad(MiddlePos[0] + Angle_1)
Pos_2 = np.deg2rad(MiddlePos[1] + Angle_2)
c.write_goal_position(sid(1), Pos_1)
c.write_goal_position(sid(2), Pos_2)
time.sleep(0.005)

def Move_Middle(Angle_1,Angle_2,Speed):
c.write_goal_speed(3, Speed)
c.write_goal_speed(sid(3), Speed)
time.sleep(0.0002)
c.write_goal_speed(4, Speed)
c.write_goal_speed(sid(4), Speed)
time.sleep(0.0002)
Pos_1 = np.deg2rad(MiddlePos[2]+Angle_1)
Pos_2 = np.deg2rad(MiddlePos[3]+Angle_2)
c.write_goal_position(3, Pos_1)
c.write_goal_position(4, Pos_2)
c.write_goal_position(sid(3), Pos_1)
c.write_goal_position(sid(4), Pos_2)
time.sleep(0.005)

def Move_Ring(Angle_1,Angle_2,Speed):
c.write_goal_speed(5, Speed)
c.write_goal_speed(sid(5), Speed)
time.sleep(0.0002)
c.write_goal_speed(6, Speed)
c.write_goal_speed(sid(6), Speed)
time.sleep(0.0002)
Pos_1 = np.deg2rad(MiddlePos[4]+Angle_1)
Pos_2 = np.deg2rad(MiddlePos[5]+Angle_2)
c.write_goal_position(5, Pos_1)
c.write_goal_position(6, Pos_2)
c.write_goal_position(sid(5), Pos_1)
c.write_goal_position(sid(6), Pos_2)
time.sleep(0.005)

def Move_Thumb(Angle_1,Angle_2,Speed):
c.write_goal_speed(7, Speed)
c.write_goal_speed(sid(7), Speed)
time.sleep(0.0002)
c.write_goal_speed(8, Speed)
c.write_goal_speed(sid(8), Speed)
time.sleep(0.0002)
Pos_1 = np.deg2rad(MiddlePos[6]+Angle_1)
Pos_2 = np.deg2rad(MiddlePos[7]+Angle_2)
c.write_goal_position(7, Pos_1)
c.write_goal_position(8, Pos_2)
c.write_goal_position(sid(7), Pos_1)
c.write_goal_position(sid(8), Pos_2)
time.sleep(0.005)


Expand Down