Speed Control

Use hand.speed to control and read the motion speed of each joint motor on the O6 dexterous hand.

• Speed range: 0-100
• Maximum RPM: 186.66 RPM at value 100

Set Speed

from realhand import O6
from realhand.hand.o6 import O6Speed

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

# Using an O6Speed object
speed = O6Speed(
    thumb_flex=30.0,  # Thumb flexion
    thumb_abd=30.0,  # Thumb abduction
    index=80.0,  # Index finger
    middle=80.0,  # Middle finger
    ring=80.0,  # Ring finger
    pinky=80.0,  # Pinky
)
hand.speed.set_speeds(speed)

Read Speed

Blocking Read

from realhand import O6
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.o6 import SensorSource, SpeedEvent

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

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

hand.stop_polling()
hand.stop_stream()

RPM Conversion

O6Speed supports conversion to and from RPM.

Convert to RPM

from realhand.hand.o6 import O6Speed

speed = O6Speed(50.0, 50.0, 50.0, 50.0, 50.0, 50.0)
rpm_values = speed.to_rpm()
print(rpm_values)  # [93.33, 93.33, 93.33, 93.33, 93.33, 93.33]

Create from RPM

from realhand.hand.o6 import O6Speed

# Set all joint motors to 90 RPM
speed = O6Speed.from_rpm([90.0, 90.0, 90.0, 90.0, 90.0, 90.0])
hand.speed.set_speeds(speed)

# Thumb slow, other fingers fast
speed = O6Speed.from_rpm([60.0, 60.0, 120.0, 120.0, 120.0, 120.0])
hand.speed.set_speeds(speed)

Complete Example

from realhand import O6
from realhand.hand.o6 import O6Speed

with O6(side="left", interface_name="can0") as hand:
    # Set speed using RPM
    speed = O6Speed.from_rpm([90.0, 90.0, 120.0, 120.0, 120.0, 120.0])
    hand.speed.set_speeds(speed)

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