Python Library for Robotics Cape on Beaglebone Black and Beaglebone Blue
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rcpy: Python 3 Interface for the Robotics Cape on the Beaglebone Black and the Beaglebone Blue

Release 0.5

This is a Python library with bindings for some of the functionality of the Robotics Cape library.

We only support Python 3, and are not interested in Python 2 at all.

Not all functions are supported. Currently supported functions are:

  1. MPU9250
  2. PWM motors
  3. Servos and ESCs
  4. Encoders
  5. LEDs
  6. Buttons
  7. GPIO inputs
  8. ADCs

You might also be interested in the pyctrl package (github, PyPI).


You will need the Robotics Cape library version 0.3.4 or higher. Depending on the image you have on your Beaglebone Black or Blue it might already be installed! You can check if it is installed and the current version by running


on your Beaglebone. If the command rc_version is not found type

sudo apt-get update
sudo apt-get install roboticscape

to install or

sudo apt-get update
sudo apt-get upgrade roboticscape

to upgrade from an older version. For more details see these instructions.

You must also have python3 installed. If you have not installed python3 yet type

sudo apt install python3 python3-pip

to install python3 and pip3.


Starting with version 0.5, rcpy relies on libgpiod for its gpio access. As of now, you have to manually install this library as follows.

Install some dependencies used by autoconf

sudo apt install autoconf-archive

Clone repo, build and make

git clone
cd libgpiod
./ --enable-tools=yes --enable-bindings-python --prefix=/usr/local
sudo make install

Move packages to /usr/local/lib/python3.5/dist-packages

sudo mv /usr/local/lib/python3.5/site-packages/* /usr/local/lib/python3.5/dist-packages/.

Install from PyPI

Starting with version 0.3, rcpy is available from PyPI. Just type

sudo pip3 install rcpy

to download and complete installation.



Mauricio C. de Oliveira