# 5. APP Control

## 5.1 APP Installation

iOS users: search [**Wonderbot**](https://apps.apple.com/us/app/wonderbot-robot/id1519146341) in App Store and download it.

Android users: Click ["**Wonderbot**"](https://play.google.com/store/apps/details?id=com.Wonder.bot)  or refer to the appendix to install it.

## 5.2 Device Connection 

:::{Note}

* Please enable Bluetooth and location services in the phone settings before opening APP.

* Please use the Bluetooth button in the APP to pair and connect with the device. Do not pair with the key in the phone settings.

* Take Android APP as example in this lesson.

:::

Step 1: Make sure the Bluetooth module is installed correctly on the uHand UNO 6 channel knob expansion board by aligning pins one by one, as shown below:

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image4.png" style="width:600px;"/>

Step 2: Turn on the power switches of the battery case and the expansion board. Press the K1 and K2 buttons on the expansion board at the same time, and release them until the RGB light turns to green. Then it can exit the neutral position mode. (If it does not exit, you can not control by the knob or app.)

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image5.jpeg"  style="width:600px;" />

Step 3: Open the APP **"Wonderbot"**, and tap on the icon <img src="../_static/media/chapter_5/section_1/media/image6.png" style="width:50px;"/> at the top left corner to select **"uHand"**.

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image7.png" style="width:600px;" />

Step 4: In uHand interface, tap on <img src="../_static/media/chapter_5/section_1/media/image8.png" style="width:50px;"/> at the top right corner, and find **"Hiwonder"** in Bluetooth list. Click on the link.

:::{Note}

If the **"Hiwonder"** does not appear immediately after clicking on the Bluetooth icon, you can click "**Search again**" to search it again.

:::

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image9.png" style="width:600px;" />

Step 5: After successfully connecting, the Bluetooth icon at the top right corner will switch to a steady mode, and the robotic hand will return to its neutral mode.

## 5.3 Control Instruction 

There are two control modes for the app. The default mode is the slider control mode, where you can drag the slider to control the rotation angle of each servo. And the other is the fingertip control mode. You can open and close the robot hand by pressing buttons.

### 5.3.1 Slider Control

The app interface consists of two parts as shown below:

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image10.png"  />

①：Menu Bar

<table  class="docutils-nobg" style="text-align: center" border="1">
<tbody>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image11.png" /></td>
<td>Go back to the home screen to select the robot </td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image12.png" /></td>
<td>Switch to fingertip control mode</td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image13.png" /> </td>
<td> Bluetooth connection </td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image14.png" /></td>
<td> More information </td>
</tr>
</tbody>
</table>

②：Control Area

<table  class="docutils-nobg" style="text-align: center" border="1">
<colgroup>
<col style="width: 50%" />
<col style="width: 50%" />
</colgroup>
<tbody>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image15.png" style="width:1.94306in;height:1.04028in" /></td>
<td>The control pan-tilt (No.6 servo) rotates from 0 ° to 180 °</td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image16.png" style="width:0.90278in;height:2.55903in" /></td>
<td>Control the opening and closing of the robotic hand (No.1 ~ 5 servo), the angle range is 0 ~ 180 °</td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image17.png" style="width:1.94375in;height:0.69375in" /></td>
<td><p>Control the opening of the hand, that is</p>
<p>the angle of No.1 ~ 5 servo should be 180 °</p></td>
</tr>
<tr>
<td><img class="common_img" src="../_static/media/chapter_5/section_1/media/image18.png" style="width:1.94097in;height:0.67431in" /></td>
<td>Control all servos back to neutral position</td>
</tr>
</tbody>
</table>

### 5.3.2 Fingertip Control

(1)  Click <img src="../_static/media/chapter_5/section_1/media/image12.png" style="width:60px;" /> on the menu bar to switch the mode to fingertip control. The interface in fingertip control mode is shown below:

<img class="common_img" src="../_static/media/chapter_5/section_1/media/image19.png"  />

(2) In this mode, the pan-tilt returns to the neutral position, while all five fingers open. When press the button on the right side of the interface, the corresponding finger will be bent and closed.

<p class="common_img" style="text-align:center;">

<img  src="../_static/media/chapter_5/section_1/media/image20.png" style="width:480px;" />

<img  src="../_static/media/chapter_5/section_1/media/image21.png" style="width:480px;" />

</p>

(3) To switch back to slider control mode, you can click <img src="../_static/media/chapter_5/section_1/media/image22.png" style="width:50px;" /> in the upper right corner.