A library to control dynamixel XL-320 servos with python
Project description
This is still a work in progress and only supports XL-320 and only version 2.0 of their protocol.
The library is divided up as follows:
- pyxl320
ServoSerial - half duplex hardware serial interface
DummySerial - for testing, doesn’t talk to any hardware
Packet - creates packets
utils - misc
xl320 - register/command/error definitions for Dynamixel’s XL-320 servo
Not everything is implemented, but more will be added over time.
Setup
Install
pip install pyxl320
Development
To submit git pulls, clone the repository and set it up as follows:
git clone https://github.com/walchko/pyxl320 cd pyxl320 pip install -e .
Usage
from pyxl320 import xl320
from pyxl320 import ServoSerial, Packet, utils
serial = ServoSerial('/dev/tty.usbserial') # tell it what port you want to use
serial.open()
pkt = Packet.makeServoPacket(1, 158.6) # move servo 1 to 158.6 degrees
err_num, err_str = serial.sendPkt(pkt) # send packet to servo
if err_num:
pkt = packet.makeLEDPacket(1, pyxl320.XL320_LED_RED)
serial.sendPkt(pkt)
raise Exception('servo error: {}'.format(err_str)
Al though I have made some packet creators (like LED and Servo), you can make your own using the basic makeWritePacket and makeReadPacket.
from pyxl320 import Packet, xl320
from pyxl320.Packet import le # creates little endian numbers
# let's make our own servo packet that sends servo 3 to 220.1 degrees
ID = 3
reg = xl320.XL320_GOAL_POSITION
params = le(int(220.1/300*1023)) # convert 220.1 degrees to an int between 0-1023
pkt = Packet.makeWritePacket(ID, reg, params)
Packet Basics
Header |
ID |
Length |
Instruction |
Parameter |
CRC |
---|---|---|---|---|---|
[0xFF, 0xFF, 0xFD, 0x00] |
ID |
[LEN_L, LEN_H] |
INST |
[PARAM 1, PARAM 2, …, PARAM N] |
[CRC_L, CRC_H] |
A status packet back from the servo follows the same format, but the instruction is always 0x55 and maybe followed by error codes if something is wrong. The length of the packet is aways the entire length minus header, id, and crc. Also remember, the packets are little-endian, so place numbers in the packet as [LSB, MSB]. You can use the function le() in Packet to accomplish this.
See the references below for more details on the instructions, error codes, etc.
Hardware
References:
Unfortunately the Dynamixel references below are not written well (many typos and errors throughout), so please be careful or you will exhibit much frustration.
ToDo
look at using python struct for packets
clean up packet reading, sometimes get a 0 appended at beginning or end
look at using a class system instead of functions for packets
look at setting up a servo based on a json file
more helper functions in utils and or bin
Change Log
2016-10-11 |
0.7.1 |
small changes/updates |
2016-09-12 |
0.7.0 |
refactoring, still working on API |
2016-09-05 |
0.5.0 |
published to PyPi |
2016-08-16 |
0.0.1 |
init |
License
The MIT License (MIT) Copyright (c) 2016 Kevin J. Walchko
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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