Skip to content

Switch to sync calls to reduce timeout error #20

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Switch to sync calls to reduce timeout error #20

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
45 changes: 10 additions & 35 deletions PythonExample/AmazingHand_Demo.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -233,48 +233,23 @@ def Fuck():
Move_Thumb (75, 0, MaxSpeed)

def Move_Index (Angle_1,Angle_2,Speed):

c.write_goal_speed(1, Speed)
time.sleep(0.0002)
c.write_goal_speed(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)
time.sleep(0.005)
Move_Finger(1, 2, MiddlePos[0]+Angle_1, MiddlePos[1]+Angle_2, Speed)

def Move_Middle(Angle_1,Angle_2,Speed):
c.write_goal_speed(3, Speed)
time.sleep(0.0002)
c.write_goal_speed(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)
time.sleep(0.005)
Move_Finger(3, 4, MiddlePos[2]+Angle_1, MiddlePos[3]+Angle_2, Speed)

def Move_Ring(Angle_1,Angle_2,Speed):
c.write_goal_speed(5, Speed)
time.sleep(0.0002)
c.write_goal_speed(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)
time.sleep(0.005)
Move_Finger(5, 6, MiddlePos[4]+Angle_1, MiddlePos[5]+Angle_2, Speed)

def Move_Thumb(Angle_1,Angle_2,Speed):
c.write_goal_speed(7, Speed)
time.sleep(0.0002)
c.write_goal_speed(8, Speed)
Move_Finger(7, 8, MiddlePos[6]+Angle_1, MiddlePos[7]+Angle_2, Speed)

def Move_Finger(ID_1, ID_2, Angle_1_with_offset, Angle_2_with_offset, Speed):
c.sync_write_goal_speed([ID_1, ID_2], [Speed, 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)
Pos_1 = np.deg2rad(Angle_1_with_offset)
Pos_2 = np.deg2rad(Angle_2_with_offset)
c.sync_write_goal_position([ID_1, ID_2], [Pos_1, Pos_2])
time.sleep(0.005)


Expand Down