Still under development Starting to add XL-430 servo
- pyservos
- ServoSerial - half duplex hardware serial interface using DTR from a USB serial port
- PiServoSerial - half duplex hardware serial interface using a HW pin
- utils - misc
- XL320 - register/command/error definitions for Dynamixel's XL-320 servo
- AX12 - register/command/error definitions for Dynamixel's AX-12A servo
- XL430 - register/command/error definitions for Dynamixel's AX-12A servo
The suggested way to install this is via the pip command as follows::
pip install pyservos
I am currently using poetry for my library and using
pyproject.toml. To submit git pulls, clone the repository and set it up as
follows:
git clone https://github.com/MultipedRobotics/pyservos
cd pyservos
poetry install
poety run pytest
The \bin directory has a number of useful programs to set servo position or ID number. Just
run the command with the --help flag to see how to use it.
servoAX12servoXL320(not implemented)servoXL430(not implemented)
The above commands have the following format:
- servoXXX
- ping: find servos on bus, ID[int|None]
- reboot: reboot a servo, ID[int|None]
- reset: reset a servo, ID[int], level[int]
- angle: set new angle in degrees or radians, angle[float], radians[True|False]
- baudrate: set new baudrate, rate[int]
- id: set new ID, current_id[int], new_id[int]
- Values
- ID: 1-254
- reset level: 1 (all), 2(all but ID), 3 (all but ID and baudrate)
- angle: 0-300 degrees
- rate: 1000000 is default
- None: if you leave out the value, there is a default that occurs which is safe
A simple example to turn the servo and turn the LED on using a USB serial converter:
# Run an AX-12 servo
from pyservos.servo_serial import ServoSerial
from pyservos.ax12 import AX12
serial = ServoSerial('/dev/tty.usbserial') # tell it what port you want to use
# serial = ServoSerial('dummy') # use a dummy serial interface for testing
serial.open()
ax = AX12()
pkt = ax.makeServoPacket(1, 158.6) # move servo 1 to 158.6 degrees
ret = serial.sendPkt(pkt) # send packet, I don't do anything with the returned status packet
pkt = ax.makeLEDPacket(1, AX12.LED_ON)
ret = serial.sendPkt(pkt)Although I have made some packet creators (like LED and Servo), you can make
your own using the basic makeWritePacket and makeReadPacket.
# Run an XL-320 servo
from pyservos.xl320 import XL320
from pyservos.utils import angle2int
xl = XL320()
# let's make our own servo packet that sends servo 3 to 220.1 degrees
ID = 3
reg = XL320.GOAL_POSITION
params = angle2int(220.1) # convert 220.1 degrees to an int between 0-1023
pkt = xl.makeWritePacket(ID, reg, params)
Here are some example robots
I haven't used these, but they seem good:
- c++: libdynamixel
| 2020-01-25 | 2.0.0 | re-architected around protocols rather than servos types |
| 2018-04-30 | 1.0.1 | API fixes and starting to add 430 support |
| 2018-02-17 | 1.0.0 | added AX-12 support and renamed the library |
| 2017-04-01 | 0.9.0 | added python3 support |
| 2017-03-26 | 0.8.0 | major overhaul and removed the GPIO stuff |
| 2017-03-19 | 0.7.7 | can switch between GPIO pin and pyserial.setRTS() |
| 2017-02-20 | 0.7.6 | small fixes and added servo_reboot |
| 2017-01-16 | 0.7.5 | fixes some small errors |
| 2016-11-29 | 0.7.4 | add bulk write and small changes |
| 2016-10-11 | 0.7.1 | small changes/updates |
| 2016-09-12 | 0.7.0 | refactoring, still working on API |
| 2016-09-05 | 0.5.0 | published to PyPi |
| 2016-08-16 | 0.0.1 | init |
Copyright (c) 2016 Kevin J. Walchko
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