This repository contains the PSYONIC Ability Hand API documentation and examples/wrappers using the API.
See the README.md in individual folders for more information.
Ensure you connect the ABILITY HAND, POWER SWITCH and BREAKOUT BOARD correctly. Windows users will first need to install drivers for the USB serial adapter.
- Connect PWR (POWER SWITCH) ➡️ PWR CONNECTOR (BREAKOUT BOARD)
- 6 PIN (ABILITY HAND) ➡️ 6 PIN (BREAKOUT BOARD)
- GND (SERIAL ADAPTER) ➡️ GND (BREAKOUT BOARD)
- RXD (SERIAL ADAPTER) ➡️ SCL (BREAKOUT BOARD)
- TXD (SERIAL ADAPTER) ➡️ SDA (BREAKOUT BOARD)
- SERIAL ADAPTER ➡️ COMPUTER
- Connect Lipo Battery ➡️ BAT (POWER SWITCH)
- Power on Ability Hand (hold power button for 1 second then release when you see the white LED)
- You will see the LED flash red then go solid red
Linux users will need to issue the following command after plugging in USB serial adapter.
sudo chmod a+rw /dev/ttyUSB*
To avoid having to issue the above command every time you can issue:
sudo usermod -aG dialout $USER
And restart your computer.
The hand ships in I2C mode but UART is recommended, to enable UART using the PSYONIC mobile app:
Scan ➡️ SELECT HAND ➡️ Gear Icon ⚙️ (Top Right) ➡️ Troubleshoot ➡️ Developer Mode
and issue the following command
We16
You are now ready to run examples using Python
(recommended for new users) or C++.
See their respective README's for instructions on getting started.
To power off the hand hold the power button for 1 second, the white LED will pulse, then go out, indicating that the power is off.
You can charge the Lipo battery by plugging the provided USB-C charger to the ABILITY HAND POWER SWITCH. You can leave everything connected, but you cannot operate the Ability Hand while it is charging.