This is a library for controlling Arduino prosthetic hands based on this design
This library supports
- Any number of fingers
- Tactile sensors
- Bend sensors
- Tactile response servos
Examples can be found in the examples
folder
#include <HandController.h>
#include <Arduino.h>
#define FINGER_SERVO 3
#define TACTILE_SERVO 6
#define MIN_ANGLE 60
#define MAX_ANGLE 120
#define BEND_PIN A7
#define FORCE_PIN A4
// initializing a finger
Finger* finger;
void setup() {
// attach finger servo
finger = new Finger(FINGER_SERVO, MIN_ANGLE, MAX_ANGLE);
// bend sensor, pin and exponential smoothing coeff
finger->attachBend(BEND_PIN, 0.9);
// tactile servo
finger->attachTactile(TACTILE_SERVO);
// force sensor, pin and exponential smoothing coeff
finger->attachForce(FORCE_PIN, 0.9);
Serial.begin(9600);
}
void loop() {
// call tick to read sensor values
finger->tick();
// print sensor values to serial
Serial.print(finger->getBend());
Serial.print(" ");
Serial.println(finger->getForce());
}