touch

Author: hejianxin79

example/linker_hand_get_matrix_touch/linker_hand_get_matrix_touch.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+import sys,os,time,argparse
+current_dir = os.path.dirname(os.path.abspath(__file__))
+target_dir = os.path.abspath(os.path.join(current_dir, "../.."))
+sys.path.append(target_dir)
+from LinkerHand.linker_hand_api import LinkerHandApi
+from LinkerHand.utils.color_msg import ColorMsg
+'''
+手掌握拳
+'''
+def main():
+    parser = argparse.ArgumentParser(description='处理手势参数')
+    parser.add_argument('--hand_type', choices=['left', 'right'], required=True, help='指定左手或右手')
+    parser.add_argument('--hand_joint', required=True, help='指定LinkerHand型号')
+    parser.add_argument('--can', default="can0", help='指定CAN编号')
+    args = parser.parse_args()
+    print(f"手类型: {args.hand_type}, 关节: {args.hand_joint}")
+
+    hand_joint = args.hand_joint
+    hand_type = args.hand_type
+    can = args.can
+    # 初始化API
+    hand = LinkerHandApi(hand_joint=hand_joint,hand_type=hand_type,can=can)
+    # 设置速度
+    if hand_joint == "L7":
+        speed = [120,250,250,250,250,250,250]
+    else:
+        speed = [120,250,250,250,250]
+    hand.set_speed(speed=speed)
+    ColorMsg(msg=f"当前为{hand_joint} {hand_type},设置速度为:{speed}", color="green")
+    while True:
+        matrix_touch = hand.get_matrix_touch()
+        print("矩阵压感数据")
+        print(matrix_touch)
+        time.sleep(0.1)
+
+
+if __name__ == "__main__":
+    # python3 linker_hand_get_matrix_touch.py --hand_type left --hand_joint L10
+    main()