This folder contains six examples using the JS version of the hAPI (Haply's API) and additional libraries used in them that are not part of the hAPI.

1. Build the Javascript version to dist, running the commands listed in here.
2. Go inside one of the example's folder and run the Test.HTML in the browser.
3. Open the console to check for any logs about the behavior of the Haply 2DIY.
4. Connect the Haply 2DIY to the computer.
5. Press the Press me button, a window will pop up.
6. Select the correct serial port for the Haply 2DIY (DO NOT connect just yet - ).
7. While holding firmly the Haply 2DIY in its home position, press the Connect button in the pop up.
   • Home positions
     • Haply 2DIYv1: fully contracted arms.
     • Haply 2DIYv3: fully extended arms.
8. Now the example is running, be sure to hold the end effector firmly and do not let it go loose.
   • For some examples there is a Stop force button, which is to turn off/on the applied force.
9. To stop the example, leave the end effector in a place where there is zero force being applied.
   • For the examples with the Stop force button, press it so the delivered force is zero.
10. Stop running the Test.HTML in the browser and close the window.

The user can freely move the end effector to explore the elements in the work area, and feel force only when interacting with them.

Rather than let the user explore the workspace and move the end effector, the end effector is the one moving the hand of the user.

Guidance examples use a PID controller to give an smooth response and prevent the end effector of delivering too strong forces, oscillations or other abrupt behaviors.