Speed Control

Use hand.speed to control and read the motion speed of each joint motor on the L20Lite dexterous hand.

• Speed range: 0-100
• Unit: Unitless, mapped to actual motor speed

Set Speed

from realhand import L20lite
from realhand.hand.l20lite import L20liteSpeed

# Using a list
hand.speed.set_speeds([50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0])

# Using an L20liteSpeed object
speeds = L20liteSpeed(
    thumb_flex=30.0,  # Thumb flexion
    thumb_abd=30.0,  # Thumb abduction
    index_flex=80.0,  # Index flexion
    middle_flex=80.0,  # Middle flexion
    ring_flex=80.0,  # Ring flexion
    pinky_flex=80.0,  # Pinky flexion
    index_abd=50.0,  # Index abduction
    ring_abd=50.0,  # Ring abduction
    pinky_abd=50.0,  # Pinky abduction
    thumb_yaw=50.0,  # Thumb rotation
)
hand.speed.set_speeds(speeds)

Read Speed

Blocking Read

from realhand.exceptions import TimeoutError

try:
    data = hand.speed.get_blocking(timeout_ms=500)
    print(f"Thumb flexion speed: {data.speeds.thumb_flex}")
    print(f"All speeds: {data.speeds.to_list()}")
except TimeoutError:
    print("Read timed out")

Cached Read

data = hand.speed.get_snapshot()
if data:
    print(f"Speed: {data.speeds.to_list()}")
    print(f"Timestamp: {data.timestamp}")

Streaming Read

Receive all sensor events through the top-level hand.stream() interface:

from realhand.hand.l20lite import SensorSource, SpeedEvent

hand.start_polling({SensorSource.SPEED: 0.1})

try:
    for event in hand.stream():
        match event:
            case SpeedEvent(data=data):
                print(f"Speed: {data.speeds.to_list()}")
finally:
    hand.stop_polling()
    hand.stop_stream()

Complete Example

from realhand import L20lite
from realhand.hand.l20lite import L20liteSpeed

with L20lite(side="left", interface_name="can0") as hand:
    # Thumb slow, other fingers fast
    speeds = L20liteSpeed(
        thumb_flex=20.0,
        thumb_abd=20.0,
        index_flex=80.0,
        middle_flex=80.0,
        ring_flex=80.0,
        pinky_flex=80.0,
        index_abd=60.0,
        ring_abd=60.0,
        pinky_abd=60.0,
        thumb_yaw=60.0,
    )
    hand.speed.set_speeds(speeds)

    # Read current speed
    data = hand.speed.get_blocking(timeout_ms=500)
    print(f"Current speed: {data.speeds.to_list()}")

    # Observe the effect after setting angles
    hand.angle.set_angles([100.0] * 10)