thumb rotation

[mfreard]

After using the hand Nicolas thinks the thumb rotation is too sensitive. He wants the thumb to close when the hand is opened. Is it possible to add this requirement in your code?

Thanks
Michel

[vitaminwater]

The idea would be to have the thumb open and close, based on fingers position ?

[vitaminwater]

Just realized the latest code from Toulouse wasn't committed:/

I added a comment to indicate where the actual hand controls happen in the loop function.

and a #define THUMB_CONTROL_THRESHOLD for the control of the thumb control threshold. right now it is at 20%, please try other values, there should be a sweet spot (or we'd need a better detection method).

To control the thumb based on the other fingers position, check the line 176, where I set the 3 middle fingers' position based on the index finger.
Let me know if can do the modification with nico, will be much easier to fine tune with the hand plugged-in;)

[mfreard]

The thumb closes or opens when the fingers are open completely and Nicolas did a double contraction

The program is quite complex.
I'll test with Nicolas.
Thanks