OyMotion

Environment Requirement

python==3.10
bleak==0.22.3
numpy==1.26.4
pymodbus==3.7.2
pyserial==3.5

Connection

Robot Hand

everytime restart, run the following code. /dev/ttyUSB0 is the COM_PORT of the robot hand

sudo chmod 777 /dev/ttyUSB0

change the COM_PORT and NODE_ID for different device

COM_PORT = "/dev/ttyUSB0"
NODE_ID = 2  # default value

change the resolution to modify the preciseness of control

# sample resolution:BITS_8 or BITS_12
SAMPLE_RESOLUTION = 8

Glove

press the bottom for 3 seconds until the green light shoots every 2 seconds

# Device filters
DEV_NAME_PREFIX = ""  # filter device
DEV_MIN_RSSI = -128  # signal strength threshold

Usage

• API for Robot Hand is in ROHand.py
• API for Glove is in Glove.py