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YAM Handle Basic

Reading Handle Output

To read the encoder output, run the following command:

python scripts/read_encoder.py --channel $CAN_CHANNEL

You should see output similar to this:

[PassiveEncoderInfo(id=1294, position=np.float64(0.004382802251101832), velocity=0.0, io_inputs=[0, 0])]

Key Information:

  • position represents the trigger position, which will later be mapped to the gripper position
  • The handle has two reserved buttons that can be mapped to desired functions
  • When the trigger is not pulled, the position reading should be zero
  • When the trigger is fully pulled, the position reading should be near 1.0

Resetting Encoder's Zero Position

If the magnet inside the encoder has shifted or after repairs, you may need to calibrate the encoder.

To reset the encoder's zero position, run:

python devices/config_passive_encoder.py --bus $CAN_CHANNEL reset-zero-position

This command sends a reset signal to the encoder board. After running this command, you can verify the reset was successful by running read_encoder.py again to check the readings.