roboclaw-python 0.9.3

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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 2.34+ or musl 1.2+. 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

These are the currently supported functions. The number shows which RoboClaw commands it uses. You can see a more detailed description in the Roboclaw User Manual

set_speed()                 0 / 1 / 4 / 5
drive()                     8 / 9
turn()                      10 / 11

//Encoders
read_encoder()              16 / 17
read_encoder_speed()        18 / 19
reset_encoders()            20
set_encoder()               22 / 23
read_raw_speed()            30 / 31
read_avg_speed()            108
read_speed_error()          111
read_position_error()       114

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

//Advanced Commands
set_serial_timeout()        14
read_serial_timeout()       15

External links

• GitHub Repository
• 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.