Speed Control

Control the motion speed of each joint motor on the L6 dexterous hand.

Set Speed

hand.speed.set_speeds(speeds)

Set the target speed for all 6 joint motors.

Parameter:

• speeds: An L6Speed instance or a 6-element list, with values in the range 0-100 (unitless)

Finger order: thumb flexion, thumb abduction, index finger, middle finger, ring finger, pinky

Examples

List Form

from realhand import L6

with L6(side="left", interface_name="can0") as hand:
    # Set all fingers to medium speed
    hand.speed.set_speeds([50.0, 50.0, 50.0, 50.0, 50.0, 50.0])

L6Speed Form

from realhand import L6
from realhand.hand.l6 import L6Speed

with L6(side="left", interface_name="can0") as hand:
    # Thumb slow, other fingers fast
    speed = L6Speed(
        thumb_flex=30.0, thumb_abd=30.0, index=80.0, middle=80.0, ring=80.0, pinky=80.0
    )
    hand.speed.set_speeds(speed)