Hand Gesture controlled servos not working properly

[akdemirahmet]

Hello people. Im gonna ask how can ı fix my problem. I want to do robotic hand imitating hand gestures with web camera. I use 10 servos in my project. Hand gestures will be detected by raspberry pi 4 via python. Python code detect hand gestures and deliver to arduino uno after uno controls servo motors. My problem is servos wont work properly. I down my İndex finger but my robotic hand downs ring finger and motors working very slow. Maybe algorithm axis the problem ? I cant solve it. I tried with arduino mega 2560. This time nothing works but arduino uno working loose.

[akdemirahmet]

My code here;

#include <Servo.h>
#define numOfValsRec 10
#define digitsPerValRec 1

Servo servoThumb;
Servo servoIndex;
Servo servoMiddle;
Servo servoRing;
Servo servoPinky;
Servo servoPrf;
Servo servoAsena;
Servo servoSelcuk;
Servo servoIrfan;
Servo servoOnur;

int valsRec[numOfValsRec];
int stringLength = numOfValsRec * digitsPerValRec + 1; //$00000
int counter = 0;
bool counterStart = false;
String receivedString;




void setup() {
  Serial.begin(9600);
  servoThumb.attach(6);
  servoIndex.attach(9);
  servoMiddle.attach(11);
  servoRing.attach(5);
  servoPinky.attach(10);
  servoPrf.attach(3);
  servoAsena.attach(7);
  servoSelcuk.attach(4);
  servoIrfan.attach(8);
  servoOnur.attach(12);

  
}


void receieveData() {
  while (Serial.available())
  {
    char c = Serial.read();
    if (c == '$') {
      counterStart = true;
    }
    if (counterStart) {
      if (counter < stringLength) {
        receivedString = String(receivedString + c);
        counter++;
      }
      if (counter >= stringLength) {
        //$00000
        for (int i = 0; i < numOfValsRec; i++)
        {
          int num = (i * digitsPerValRec) + 1;
          valsRec[i] = receivedString.substring(num, num + digitsPerValRec ).toInt();
        }
        receivedString = "";
        counter = 0;
        counterStart = false;
      }
    }
  }


}


void loop() {
  receieveData();
  if (valsRec[0]==1){servoThumb.write(180);}else{servoThumb.write(0);}
  if (valsRec[1]==1){servoIndex.write(180);}else{servoIndex.write(0);}
  if (valsRec[2]==1){servoMiddle.write(180);}else{servoMiddle.write(0);}
  if (valsRec[3]==1){servoRing.write(180);}else{servoRing.write(0);}
  if (valsRec[4]==1){servoPinky.write(180);}else{servoPinky.write(0);}
  if (valsRec[5]==1){servoPrf.write(180);}else{servoPrf.write(0);}
  if (valsRec[6]==1){servoAsena.write(180);}else{servoAsena.write(0);}
  if (valsRec[7]==1){servoSelcuk.write(180);}else{servoSelcuk.write(0);}
  if (valsRec[8]==1){servoIrfan.write(180);}else{servoIrfan.write(0);}
  if (valsRec[9]==1){servoOnur.write(180);}else{servoOnur.write(0);}

}

[akdemirahmet]

Here is the python code;

import cvzone.SerialModule
from cvzone.HandTrackingModule \
import HandDetector
import cv2

cap = cv2.VideoCapture(0)
detector = HandDetector(detectionCon=0.3, maxHands=2)
mySerial = cvzone.SerialModule.SerialObject('/dev/ttyUSB0',19200,1)

while True:
    # Get image frame
    success, img = cap.read()
    # Find the hand and its landmarks
    hands, img = detector.findHands(img)  # with draw
    # hands = detector.findHands(img, draw=False)  # without draw

    if hands:
        # Hand 1
        hand1 = hands[0]
        lmList1 = hand1["lmList"]  # List of 21 Landmark points
        bbox1 = hand1["bbox"]  # Bounding box info x,y,w,h
        centerPoint1 = hand1['center']  # center of the hand cx,cy
        handType1 = hand1["type"]  # Handtype Left or Right

        fingers1 = detector.fingersUp(hand1)
        mySerial.sendData(fingers1)
        if len(hands) == 2:
            # Hand 2
            hand2 = hands[1]
            lmList2 = hand2["lmList"]  # List of 21 Landmark points
            bbox2 = hand2["bbox"]  # Bounding box info x,y,w,h
            centerPoint2 = hand2['center']  # center of the hand cx,cy
            handType2 = hand2["type"]  # Hand Type "Left" or "Right"

            fingers2 = detector.fingersUp(hand2)


    # Display
    cv2.imshow("Image", img)
    cv2.waitKey(1)
cap.release()
cv2.destroyAllWindows()