Pynamixel 0.1.0

Library to use Dynamixel servos supporting several hardwares

Pynamixel is a Python (2.7+ and 3.4+) library to use Robotis Dynamixel servos. It supports several hardwares (see below) and adding a new one is easy. It provides different layers allowing very precise control as well as a greater abstraction.

It’s licensed under the MIT license. It’s available on the Python package index, its documentation is hosted by Python and its source code is on GitHub.

It’s currently in a very early stage, and you should use it only if you’ve read the code and are satisfied with what it does.

Questions? Remarks? Bugs? Want to contribute? Open an issue!

Supported hardwares

“Full support” means on Windows, Linux and Mac OS X, with both Python 2.7+ and 3.4+.

• USB2AX: full support
• USB2Dynamixel: not yet

Quick start

Install from PyPI:

$ pip install Pynamixel

Import:

>>> import Pynamixel

Create a hardware:

>>> hardware = Pynamixel.hardwares.USB2AX("/dev/ttyACM0", 1000000)

Create a system and a device:

>>> system = Pynamixel.System(Pynamixel.Bus(hardware))
>>> servo = system.add_device(Pynamixel.devices.AX12, 1)

Set the servo’s goal position:

>>> servo.goal_position.write(0x200)

And see that it’s moving:

>>> servo.moving.read()
1