C++ SDK - Revo 2 Dexterous Hand

System Requirements

• Linux: Ubuntu 20.04/22.04 LTS (x86_64/aarch64), glibc ≥ 2.31
• macOS: 10.15+
• Windows: 10/11

Quick Start

Clone Repository

HTTPS

git clone https://github.com/BrainCoTech/brainco-hand-sdk.git

SSH

git clone git@github.com:BrainCoTech/brainco-hand-sdk.git

Installation & Configuration

Ubuntu

# Install dependencies
# Required: build-essential, cmake, make, gcc, g++, etc.

# Install SDK dependencies
./download-lib.sh

# Configure device permissions
# In Linux, serial devices (e.g., /dev/ttyUSB0) typically belong to dialout or tty group
# Only group members can access the device, for example:
# crw-rw---- 1 root dialout 188, 0 Aug 14 12:00 /dev/ttyUSB0

# Add current user to dialout group
sudo usermod -aG dialout $USER
# Note: You need to log out and log back in for this to take effect

# Build and run example (unified cross-platform directory)
cd c && make
cd demo && ./hand_demo.exe    # Auto-detect device and run

macOS

# Install Xcode or Xcode Command Line Tools
xcode-select --install

# Install SDK dependencies
./download-lib.sh

# Build and run example (unified cross-platform directory)
cd c && make
cd demo && ./hand_demo.exe    # Auto-detect device and run

Windows

# Requires MinGW or MSVC build environment

# Install SDK dependencies
./download-lib.sh

# Build and run example (unified cross-platform directory)
cd c && make
cd demo && hand_demo.exe      # Auto-detect device and run

Example Code

The SDK provides comprehensive example code covering different communication protocols and application scenarios.

Cross-Platform Examples (Recommended) ⭐

Unified cross-platform examples with auto-detection and multi-protocol support.

cd c
make
cd demo
./hand_demo.exe       # Auto-detect device and run demo

Example	Description
hand_demo.cpp	Comprehensive demo (8 modes: position/speed/current control, action sequences, touch sensors, etc.)
hand_monitor.cpp	Real-time data monitor (motor status, touch data)
hand_dfu.cpp	Firmware upgrade
auto_detect.cpp	Device auto-detection

Supported initialization methods:

./hand_demo.exe                                          # Auto-detect (recommended)
./hand_demo.exe -m /dev/ttyUSB0 460800 127               # Modbus
./hand_demo.exe -c /dev/cu.usbmodem14201 1000000 1       # CAN 2.0 (ZQWL)
./hand_demo.exe -f /dev/cu.usbmodem14201 1000000 5000000 127  # CANFD (ZQWL)
./hand_demo.exe -s can0 1                                # SocketCAN CAN 2.0 (external adapter)
./hand_demo.exe -S can0 127                              # SocketCAN CANFD (external adapter)
./hand_demo.exe -b can0 1                                # SocketCAN CAN 2.0 (SDK built-in)
./hand_demo.exe -B can0 127                              # SocketCAN CANFD (SDK built-in)
./hand_demo.exe -z 2                                     # ZLG CAN 2.0
./hand_demo.exe -Z 127                                   # ZLG CANFD

Legacy Protocol Examples (Archived)

⚠️ The following examples have been archived to archive/. We recommend using the Cross-Platform Examples (c/demo/) above, which support auto-detection of all protocols and devices.

Modbus-RTU Protocol

• Single Hand Control
• Dual Hand Control - Connect left and right hands via single serial port with different device IDs
• Get Tactile Information

CANFD Protocol

• ZLG USBCANFD Device
• ZQWL USBCANFD Device

EtherCAT Protocol

• PDO Communication Example

API Reference

For C/C++ API lookup, use the complete C ABI header bundled with the bc-stark-sdk (v2.x) package: Download stark-sdk.h. The quick reference below covers the most commonly used APIs.

API Quick Reference

Initialization and Configuration

API	Description
init_logging()	Initialize SDK logging

Connection Management (Recommended)

API	Description
stark_auto_detect()	Auto-detect devices (all protocols) ⭐
init_from_detected()	Initialize from detected device ⭐
close_device_handler()	Close device connection (unified) ⭐
list_zqwl_devices()	List ZQWL CAN/CANFD devices ⭐
init_zqwl_canfd()	Initialize ZQWL CANFD device
init_zqwl_can()	Initialize ZQWL CAN 2.0 device
close_zqwl()	Close ZQWL device
list_socketcan_devices()	List available SocketCAN interfaces (Linux) ⭐
init_socketcan_canfd()	Initialize SocketCAN CANFD interface (Linux)
init_socketcan_can()	Initialize SocketCAN CAN 2.0 interface (Linux)
close_socketcan()	Close SocketCAN interface (Linux)
scan_can_devices()	Scan CAN bus for devices

Connection Management (Legacy)

API	Description
modbus_open()	Open Modbus connection
modbus_close()	Close Modbus connection
init_device_handler()	Create device handler (CAN/CANFD/EtherCAT, manual adapter management)
init_device_handler_with_hw_type()	Create device handler with pre-set hardware type (skip get_device_info) ⭐
auto_detect_device()	Auto-detect device (Modbus only)
auto_detect_modbus_revo2()	Auto-detect Revo 2 device (Modbus only)
list_available_ports()	List available serial ports

Device Information

API	Description
stark_get_device_info()	Get complete device information
stark_is_touch_device()	Check if touch-enabled ⭐
stark_uses_revo1_motor_api()	Check if uses Revo 1 Motor API ⭐
stark_uses_pressure_touch_api()	Check if uses Pressure Touch API ⭐
stark_get_touch_vendor()	Get touch sensor type ⭐
stark_get_voltage()	Get device voltage
stark_get_rs485_baudrate()	Get RS485 baud rate
stark_set_rs485_baudrate()	Set RS485 baud rate
stark_get_canfd_baudrate()	Get CANFD baud rate
stark_set_canfd_baudrate()	Set CANFD baud rate
stark_set_slave_id()	Set slave ID

Device Configuration

API	Description
stark_get_force_level()	Get force level
stark_set_force_level()	Set force level
stark_get_auto_calibration_enabled()	Get auto-calibration status
stark_set_auto_calibration()	Set auto-calibration
stark_calibrate_position()	Manual position calibration
stark_get_turbo_mode_enabled()	Get turbo mode status
stark_set_turbo_mode_enabled()	Set turbo mode
stark_get_turbo_config()	Get turbo configuration
stark_set_turbo_config()	Set turbo configuration
stark_reboot()	Reboot device

Motor Control - Position (Unified Range 0-1000)

API	Description
stark_set_finger_position()	Set single finger position
stark_set_finger_position_with_millis()	Set position with duration ⭐
stark_set_finger_position_with_speed()	Set position with speed ⭐
stark_set_finger_positions()	Set all finger positions
stark_set_finger_positions_and_durations()	Set positions with durations ⭐
stark_set_finger_positions_and_speeds()	Set positions with speeds ⭐
stark_get_finger_positions()	Get all finger positions

Motor Control - Speed (Unified Range -1000~+1000)

API	Description
stark_set_finger_speed()	Set single finger speed
stark_set_finger_speeds()	Set all finger speeds
stark_get_finger_speeds()	Get all finger speeds

Motor Control - Current (Unified Range -1000~+1000)

API	Description
stark_set_finger_current()	Set single finger current
stark_set_finger_currents()	Set all finger currents
stark_get_finger_currents()	Get all finger currents

Motor Control - PWM (Unified Range -1000~+1000) ⭐

API	Description
stark_set_finger_pwm()	Set single finger PWM
stark_set_finger_pwms()	Set all finger PWMs

Motor Status

API	Description
stark_get_motor_status()	Get comprehensive motor status
stark_get_motor_state()	Get motor running state

Motor Settings ⭐

API	Description
stark_get_finger_unit_mode()	Get unit mode
stark_set_finger_unit_mode()	Set unit mode
stark_get_finger_min_position()	Get minimum position limit
stark_set_finger_min_position()	Set minimum position limit
stark_get_finger_max_position()	Get maximum position limit
stark_set_finger_max_position()	Set maximum position limit
stark_get_finger_max_speed()	Get maximum speed limit
stark_set_finger_max_speed()	Set maximum speed limit
stark_get_finger_max_current()	Get maximum current limit
stark_set_finger_max_current()	Set maximum current limit
stark_get_finger_protected_current()	Get protected current
stark_set_finger_protected_current()	Set protected current
stark_get_thumb_aux_lock_current()	Get thumb aux lock current
stark_set_thumb_aux_lock_current()	Set thumb aux lock current

Touch Sensors

API	Description
stark_get_touch_sensor_enabled()	Get touch sensor enabled status
stark_get_touch_sensor_fw_versions()	Get touch sensor firmware versions
stark_get_touch_sensor_raw_data()	Get touch raw data
stark_get_touch_sensor_status()	Get touch sensor status
stark_touch_sensor_setup()	Setup touch sensors
stark_touch_sensor_reset()	Reset touch sensors
stark_touch_sensor_calibrate()	Calibrate touch sensors

Force3D Touch Sensors ⭐

API	Description
stark_get_force3d_touch_summary()	Get 4-finger force summary (FxFyFz)
stark_get_force3d_finger_array()	Get full array data for single finger (31 channels)

ArrayPressure Sensors ⭐

API	Description
stark_get_array_pressure_touch_data()	Get full array pressure data
stark_set_array_pressure_sleep()	Set array sensor sleep status

High-Performance Data Collection ⭐

API	Description
motor_buffer_new()	Create motor status buffer
motor_buffer_free()	Free motor status buffer
motor_buffer_pop_all()	Get all motor data
touch_buffer_new()	Create touch status buffer
touch_buffer_free()	Free touch status buffer
pressure_summary_buffer_new()	Create pressure summary buffer
pressure_detailed_buffer_new()	Create pressure detailed buffer
data_collector_new_basic()	Create basic collector
data_collector_new_capacitive()	Create capacitive touch collector
data_collector_new_pressure_summary()	Create pressure summary collector
data_collector_new_pressure_detailed()	Create pressure detailed collector
data_collector_new_pressure_hybrid()	Create hybrid mode collector
data_collector_new_force3d()	Create Force3D collector
data_collector_new_array_pressure()	Create ArrayPressure collector
data_collector_new_v3_basic()	Create Revo3 basic collector
data_collector_new_v3_full()	Create Revo3 full collector
data_collector_start()	Start data collection
data_collector_stop()	Stop data collection
data_collector_wait()	Wait for collection thread
data_collector_free()	Free data collector

LED, Buzzer, Vibration ⭐

API	Description
stark_get_led_enabled()	Get LED enabled status
stark_set_led_enabled()	Set LED enabled status
stark_get_buzzer_enabled()	Get buzzer enabled status
stark_set_buzzer_enabled()	Set buzzer enabled status
stark_get_vibration_enabled()	Get vibration enabled status
stark_set_vibration_enabled()	Set vibration enabled status

Action Sequences

API	Description
stark_get_action_sequence()	Get action sequence
stark_transfer_action_sequence()	Upload action sequence
stark_run_action_sequence()	Execute action sequence

EtherCAT Specific ⭐

API	Description
stark_ec_setup_sdo()	Setup SDO
stark_ec_start_loop()	Start cyclic loop
stark_ec_stop_loop()	Stop cyclic loop
stark_ec_start_dfu()	Start firmware upgrade

Firmware Upgrade

API	Description
stark_start_dfu()	Start firmware upgrade

⭐ Indicates Revo2-specific or enhanced features