Haptics | Qnbot Docs Center

Read first: Device discovery & connection

Setting and clearing vibration

Call device.haptics() to get the fingertip vibration control entry point; after calling start(), you can set fingertip vibration. Each GloveFinger corresponds to one fingertip vibration motor:

from qnbot_sdk import Sdk
from qnbot_sdk.glove import GloveFinger, Haptics
from qnbot_sdk.glove import GloveConfig

sdk = Sdk(devices=(GloveConfig(),))
glove = sdk.glove()
try:
    haptics = glove.device().haptics()
    glove.start()
    haptics.set(
        Haptics(
            {
                GloveFinger.THUMB: 80,
                GloveFinger.INDEX: 40,
            }
        )
    )

    latest = haptics.latest()
    if latest is not None:
        print(latest.value.strengths)

    haptics.clear()
finally:
    glove.close()

device.haptics() is used to control each fingertip's vibration motor and read the vibration output state. Haptics is used both as the input to set() and as the state value obtained by latest() and subscriptions:

Field	Type	Required/Default	Description and constraints
`strengths`	`dict[GloveFinger, int]`	Required, may be an empty mapping	Mapping from fingers to vibration intensity; supports `THUMB`, `INDEX`, `MIDDLE`, `RING`, `PINKY`; the intensity must be an integer in `0..100`; fingers not listed are not included in the current vibration setting

For the complete fields and types, see Haptics.

Reading the current setting

latest() returns the vibration setting currently saved by the SDK, not a hardware execution receipt:

Event	`latest()` result	Notes
`set()` succeeds	The new vibration setting	—
`set()` or `clear()` fails	Unchanged	A failure publishes no new state
`clear()` succeeds	`None`	No additional callback sample is produced
`stop()`, e-stop, or connection loss	`None`	The SDK updates the state to empty
After reconnecting	Still `None`	Not replayed automatically; call `set()` again if needed

An empty state only indicates that the SDK currently has no vibration setting, and does not guarantee that disconnected hardware has received zero output.

Constraints and reference

The intensity must be an integer in the range 0..100. For a complete example, see haptics.py.