dynamixel-async 0.2.0

High-level Python library for Dynamixel servos with async support and comprehensive control table definitions

Dynamixel Async

A high-level Python library for controlling Dynamixel servos with async support and comprehensive control table definitions.

Features

• Asynchronous API for better performance and control
• Complete control table definitions for XM430 series servos
• High-level abstractions for common operations
• Type hints for better IDE support
• Comprehensive error handling
• Auto port detection

Installation

pip install dynamixel-async

Quick Start

import asyncio
from dynamixel_async import DynamixelController

async def main():
    # Create controller instance (auto-detects port)
    controller = DynamixelController(baudrate=57600)
    
    try:
        # Connect and scan for servos
        await controller.connect()
        print(f"Connected servos: {controller.get_connected_ids()}")
        
        # Get first servo
        servo = controller.get_servo(1)
        if not servo:
            print("No servo found with ID 1")
            return
            
        # Enable torque
        servo.enable_torque()
        
        # Move to different positions
        positions = [0, 90, 180, 90, 0]
        for pos in positions:
            print(f"Moving to {pos} degrees...")
            servo.set_position(pos)
            await controller.wait_for_servos()
            
            # Read current position
            current_pos = servo.get_position()
            print(f"Current position: {current_pos:.1f} degrees")
            await asyncio.sleep(1.0)
            
    finally:
        # Clean up
        if controller:
            await controller.disconnect()

if __name__ == "__main__":
    asyncio.run(main())

Supported Models

Currently supports:

• XM430-W210
• XM430-W350

More models can be easily added by defining their control tables.

Control Modes

Supports all XM430 control modes:

• Position Control
• Velocity Control
• Current Control
• Extended Position Control
• PWM Control

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.