A library to control dynamixel AX-12+ servos with python
Project description
PyAX-12
Copyright (c) 2010,2015 Jeremie DECOCK (http://www.jdhp.org)
Online documentation: http://pyax-12.readthedocs.org
Source code: https://github.com/jeremiedecock/pyax12
Issue tracker: https://github.com/jeremiedecock/pyax12/issues
PyAX-12 on PyPI: https://pypi.python.org/pypi/pyax12
Description
PyAX-12 is an open source lightweight Python library to control Dynamixel AX-12+ actuators.
Dependencies
Python >= 3.0
PyAX-12 is tested to work with Python 3.4 under Gnu/Linux Debian 8 and Windows 7. It should also work with Python 3.X under recent Gnu/Linux and Windows systems. It hasn’t been tested (yet) on MacOSX and BSD systems.
Python-serial is required to install PyAX-12.
Note:
If you use pip to install PyAX-12, Python-serial will be automatically downloaded and installed (see the following install section).
Installation
Gnu/Linux
You can install, upgrade, uninstall PyAX-12 with these commands (in a terminal):
pip install --pre pyax12 pip install --upgrade pyax12 pip uninstall pyax12
Or, if you have downloaded the PyAX-12 source code:
python3 setup.py install
Windows
Note:
The following installation procedure has been tested to work with Python 3.4 under Windows 7. It should also work with recent Windows systems.
You can install, upgrade, uninstall PyAX-12 with these commands (in a command prompt):
py -m pip install --pre pyax12 py -m pip install --upgrade pyax12 py -m pip uninstall pyax12
Or, if you have downloaded the PyAX-12 source code:
py setup.py install
Documentation
Online Documentation: http://pyax-12.readthedocs.org
API Documentation: http://pyax-12.readthedocs.org/en/latest/api.html
Example usage
In the following examples, the dynamixel_id, port and baudrate values should be adapted depending on your configuration:
for Linux users the port value should be something like
“/dev/ttyS0”, “/dev/ttyS1”, … if you use an actual serial port
“/dev/ttyUSB0”, “/dev/ttyUSB1”, … if you use an USB to serial adapter (like the USB2Dynamixel adapter)
for Windows users the port value should be something like “COM2”, “COM3”, …
If you use the USB2Dynamixel device, make sure its switch is set on “TTL”.
Some other examples are available in the examples directory.
Ping a Dynamixel
from pyax12.connection import Connection # Connect to the serial port serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600) dynamixel_id = 3 # Ping the third dynamixel unit is_available = serial_connection.ping(dynamixel_id) print(is_available) # Close the serial connection serial_connection.close()
Scan (search available Dynamixel units)
from pyax12.connection import Connection
# Connect to the serial port
serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600)
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
for dynamixel_id in ids_available:
print(dynamixel_id)
# Close the serial connection
serial_connection.close()
Print the control table of the third Dynamixel unit
from pyax12.connection import Connection # Connect to the serial port serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600) dynamixel_id = 3 # Print the control table of the specified Dynamixel unit serial_connection.pretty_print_control_table(dynamixel_id) # Close the serial connection serial_connection.close()
Move the first Dynamixel unit to 0° then go to 300° and finally go back to 150°
from pyax12.connection import Connection import time # Connect to the serial port serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600) dynamixel_id = 1 # Goto to 0° serial_connection.goto(dynamixel_id, 0, degrees=True) # Wait 2 seconds time.sleep(2) # Go back to 300° serial_connection.goto(dynamixel_id, 300, degrees=True) # Wait 2 seconds time.sleep(2) # Go back to 150° serial_connection.goto(dynamixel_id, 150, degrees=True) # Close the serial connection serial_connection.close()
Bug reports
To search for bugs or report them, please use the PyAX-12 Bug Tracker at:
License
The PyAX-12 library is provided under the terms and conditions of the MIT License.
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