roboclaw-python 0.9.0

No project description provided

RoboClaw Encoder Interface

This project provides an interface for controlling and reading encoder values from RoboClaw motor controllers. It allows you to set motor speeds, control motor movement, and read encoder values with proper handling of overflow, underflow, and direction. Features

Control Motors: Set speed for individual motors (M1, M2).
Drive Both Motors: Control both motors at the same time with forward or backward movement.
Turn Both Motors: Control turning by adjusting motor speeds in opposite directions.
Read Encoder: Accurately read encoder values, adjusting for overflow and underflow.

System Requirements

This library works on windows x86, linux x86 and linux aarch64 machines. Linux supports glibc or musl. Python version needs to be 3.7 or higher.

Installation

pip install roboclaw-python

Usage

Example in Python using the PyO3 bindings

from roboclaw_python import RoboClaw, Motor

Initialize RoboClaw

roboclaw = RoboClaw(port_name="/dev/ttyUSB0", baud_rate=115200, timeout=20, retries=128, address=128)

Set motor speed

roboclaw.set_speed(Motor.M1, 100)

Read encoder value

encoder_value_m1 = roboclaw.read_encoder(Motor.M1)
print(f"Motor M1 Encoder: {encoder_value_m1}")

Currently supported

set_speed()                 M1 + M2 Forward and Backwards
drive()                     Both motors forwards and backwards at the same time
turn()                      Turn one or the other motor

//Encoders
read_encoder()              Reads the encoder of a specified motor
read_encoder_speed()        Read the speed of the encoder in counts per second
reset_encoders()            Resets both encoders
set_encoder()               Sets the encoder value of a specified motor
read_raw_speed()            Reads the raw speed of the encoders
read_avg_speed()            Reads the average speed of the encoders
read_speed_error()          Reads speed error
read_position_error()       Read position error

//Advanced motor controls
set_velocity_pid()          28 / 29
set_speed_duty()            32 / 33
drive_duty()                34

//Advanced Commands
set_serial_timeout()        Sets the serial timeout
read_serial_timeout()       Reads the serial timeout

External links

• Basic Micro
• Roboclaw User Manual

License

This project is licensed under the MIT License.

This is an unofficial roboclaw driver for python. I'm not affiliated with Basic Micro.