A library to control dynamixel AX-12+ servos with python
Project description
PyAX-12
Copyright (c) 2010,2015 Jeremie DECOCK (http://www.jdhp.org)
Description
PyAX-12 is an open source lightweight Python library to control Dynamixel AX-12+ actuators.
Dependencies
Python >= 3.0
Install
PyAX-12 can be installed with Python Distutils by entering the following command in a terminal:
python3 setup.py install
Documentation
PyAX-12 documentation is available on the following page:
Example usage
Many examples are available in the examples directory.
The port and baudrate values should be adapted depending on your configuration.
For Linux users the port value should be something like “/dev/ttyS0” or “/dev/ttyUSB0”.
For Windows users the port value should be something like “COM1”, “COM2”, …
Ping a Dynamixel
from pyax12.connection import Connection # Connect to the serial port serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600) # Ping the third dynamixel unit is_available = serial_connection.ping(3) 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) # Print the control table of the specified Dynamixel unit serial_connection.pretty_print_control_table(3) # 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 # Connect to the serial port serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600) # Goto to 0° serial_connection.goto(1, 0, degrees=True) # Wait 2 seconds time.sleep(2) # Go back to 300° serial_connection.goto(1, 300, degrees=True) # Wait 2 seconds time.sleep(2) # Go back to 150° serial_connection.goto(1, 150, degrees=True) # Close the serial connection serial_connection.close()
Warning
If you use the USB2Dynamixel device, make sure its switch is set on “TTL” (otherwise status packets won’t be readable).
Also, please check whether the serial port, the baudrate and the Dynamixel IDs defined in PyAX-12 fits with your hardware.
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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