pylx16a 1.0.2

A modern Python library for controlling HiWonder's LX-16A servos

PyLX-16A

A modern Python library for controlling HiWonder's (previously LewanSoul's) LX-16A servos.

Install and Setup

Simply copy lx16a.py into your project directory.

Don't try to guess the port your controller is connected to. On Linux, run sudo dmesg after plugging it in, which prints the most recent kernel messages. It should say something like ch341-uart converter now attached to ttyUSB0, in which case the port you want is /dev/ttyUSB0.

There's also the possibility that your program doesn't have access to the port you want to use. In this case, we need to modify the permissions of the port (e.g. /dev/ttyUSB0). To make it publicly readable and writable, run sudo chmod a+rw /dev/ttyUSB0.

Documentation

Refer to documentation.md.

Example program

from math import sin, cos, pi
from lx16a import *
import time

LX16A.initialize("/dev/ttyUSB0")

try:
    servo1 = LX16A(1)
    servo2 = LX16A(2)
    servo1.set_angle_limits(0, 240)
    servo2.set_angle_limits(0, 240)
except ServoTimeoutError as e:
    print(f"Servo {e.id_} is not responding. Exiting...")
    quit()

t = 0
while True:
    servo1.move(sin(t) * 60 + 60)
    servo2.move(cos(t) * 60 + 60)

    time.sleep(0.05)
    t += 0.1