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robotserial is a library that transmits robot sensor and actuator information through serial ports. It supports USBs as well as any other port that supports serial data transmission. Multiple serial ports may be used at once.

Table of Contents

  1. Example
  2. Installation
  3. License


This will print all values from an attached accelerometer for one second:

from robotserial import SerialStateMachineThread
import time

def print_accelerometer(a, b, c):
    print( "accelerometer xyz: [{}, {}, {}]".format(a,b,c))

ssmt = SerialStateMachineThread()
ssmt.start() # accelerometer currently needs to be found before it can be accessed

ssmt.accelerometer.set_callback( print_accelerometer )


The corresponding code to send the data from an Arduino is currently:

Serial.write(aX.bytes, 4);Serial.write(aY.bytes, 4);Serial.write(aZ.bytes, 4);
Serial.write(gX.bytes, 4);Serial.write(gY.bytes, 4);Serial.write(gZ.bytes, 4);
Serial.write(mX.bytes, 4);Serial.write(mY.bytes, 4);Serial.write(mZ.bytes, 4);

This will change once a C/C++ library is made for embedded devices.


$ pip install robotserial

robotserial is distributed on PyPI as a universal wheel and is available on Linux/macOS and Windows and supports Python 2.7/3.5+ and PyPy.


robotserial is distributed under the terms of both

at your option.

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