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fix some problems #3

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fix some problems #3

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2 changes: 1 addition & 1 deletion cpp/sdk
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Submodule sdk updated 3 files
+1 −0 include/commondef.h
+ − lib/linux/aarch64/libdexhand.so
+ − lib/linux/x86_64/libdexhand.so
13 changes: 8 additions & 5 deletions dexhand/dexhand.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ def __init__(self, adapter_type=AdapterType.ZLG_200U, adapter_index=0):
LibDexHand.get_device_id_021s.restype = c_ubyte

LibDexHand.get_firmware_version_021s.argtypes = [c_void_p, c_ubyte]
LibDexHand.get_firmware_version_021s.restype = c_ubyte
LibDexHand.get_firmware_version_021s.restype = c_uint16

LibDexHand.enable_realtime_response_021s.argtypes = [c_void_p, c_ubyte, c_bool]

Expand All @@ -66,7 +66,10 @@ def __init__(self, adapter_type=AdapterType.ZLG_200U, adapter_index=0):
LibDexHand.move_finger_021s.argtypes = [c_void_p, c_ubyte, c_short, c_short, c_ubyte, c_uint, c_ubyte]

LibDexHand.reset_joints_021s.argtypes = [c_void_p, c_ubyte]
LibDexHand.clear_error_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
LibDexHand.clear_error_021s.argtypes = [c_void_p, c_ubyte]

LibDexHand.get_error_code_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
LibDexHand.get_error_code_021s.restype = c_ubyte

LibDexHand.get_motor_current_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
LibDexHand.get_motor_current_021s.restype = c_short
Expand Down Expand Up @@ -138,10 +141,10 @@ def reset_joints(self, device_id):
LibDexHand.reset_joints_021s(self.instance, device_id)

def get_error_code(self, device_id, finger_id):
LibDexHand.get_error_code_021s(self.instance, finger_id, device_id)
return LibDexHand.get_error_code_021s(self.instance, finger_id, device_id)
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Copilot AI Feb 12, 2026

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The parameter order in the C library call (finger_id, device_id) is inconsistent with other methods in this class, which follow the pattern (device_id, finger_id). This inconsistency could lead to incorrect API usage. Consider verifying the correct parameter order with the underlying C library and updating either this call or the argtypes declaration on line 71 to maintain consistency.

Copilot uses AI. Check for mistakes.

def clear_error(self, device_id, finger_id):
LibDexHand.clear_error_021s(self.instance, finger_id, device_id)
def clear_error(self, device_id):
LibDexHand.clear_error_021s(self.instance, device_id)

def get_motor_current(self, device_id, finger_id):
return LibDexHand.get_motor_current_021s(self.instance, finger_id, device_id)
Expand Down
15 changes: 4 additions & 11 deletions examples/DX021S_example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@


def main():
hand021s = DexHand021S(adapter_type=AdapterType.ZLG_200U, adapter_index=0)
hand021s = DexHand021S(adapter_type=AdapterType.ZLG_MINI, adapter_index=0)
hand021s.listen(enable=True)
device_id = hand021s.get_device_id(channel=0)
# device_id = 0x01
Expand All @@ -20,10 +20,7 @@ def main():
maxCurrent1 = hand021s.get_safe_current(device_id=device_id, finger_id=0x01)
print('Maximum allowed Current of finger 1 is {}'.format(maxCurrent1))

hand021s.clear_error(device_id, 0x01)
hand021s.clear_error(device_id, 0x02)
hand021s.clear_error(device_id, 0x03)
hand021s.clear_error(device_id, 0x04)
hand021s.clear_error(device_id)

hand021s.reset_joints(device_id)
time.sleep(1)
Expand All @@ -39,19 +36,15 @@ def main():

print('joint1={}, joint2={}, joint3={}'.format(joint1, joint2, joint3))

hand021s.clear_error(device_id, 0x01)
hand021s.clear_error(device_id, 0x02)
hand021s.clear_error(device_id, 0x03)
hand021s.clear_error(device_id)

time.sleep(0.8)

hand021s.move_finger(device_id, 0x01, 0, 500, 0x55, 10)
hand021s.move_finger(device_id, 0x02, 0, 500, 0x55, 10)
hand021s.move_finger(device_id, 0x03, 0, 500, 0x55, 10)

hand021s.clear_error(device_id, 0x01)
hand021s.clear_error(device_id, 0x02)
hand021s.clear_error(device_id, 0x03)
hand021s.clear_error(device_id)

time.sleep(0.8)

Expand Down
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