Metadata-Version: 1.1
Name: pyxl320
Version: 0.9.2
Summary: A library to control dynamixel XL-320 servos with python
Home-page: http://github.com/walchko/pyxl320
Author: Kevin Walchko
Author-email: kevin.walchko@outlook.com
License: MIT
Description: .. image:: https://raw.githubusercontent.com/walchko/pyxl320/master/pics/complex.gif
            :align: center
        	:width: 300px
            :target: https://github.com/walchko/pyxl320
            :alt: animated gif
        
        pyXL320
        =========
        
        
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           :target: https://landscape.io/github/walchko/pyxl320/master
           :alt: Code Health
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            :alt: Latest Version
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            :alt: License
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            :target: https://travis-ci.org/walchko/pyxl320
        
        
        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
        	- **Packet** - creates packets to talk to the servo
        	- **utils** - misc
        	- **xl320** - register/command/error definitions for Dynamixel's XL-320 servo
        
        **New:** pyXL320 now supports python2 and python3.
        
        Setup
        --------
        
        Install
        ~~~~~~~~~~~~~
        
        The suggested way to install this is via the ``pip`` command as follows::
        
        	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
        --------
        
        The ``\bin`` directory has a number of useful programs to set servo position or ID number. Just
        run the command with the ``--help`` flag to see how to use it.
        
        ==================== ==============================================================
        Command              Description
        ==================== ==============================================================
        ``servo_ping.py``    pings one or all of the servos
        ``servo_reboot.py``  reboots one or all servos
        ``servo_reset.py``   resets one or all servos to a specified level
        ``set_angle.py``     sets the angle of a given servo
        ``set_baud_rate.py`` change the baud rate of the servos
        ``set_id.py``        changes the ID number for a given servo
        ==================== ==============================================================
        
        `Documentation <https://github.com/walchko/pyxl320/tree/master/docs/Markdown>`_
        -------------------------------------------------------------------------------------
        
        The documents are stored in markdown files in the repo `here <https://github.com/walchko/pyxl320/tree/master/docs/Markdown>`_
        and cover hardware interface and software development. However, a simple example to turn the servo
        and turn the LED to green using a USB serial converter:
        
        .. code-block:: python
        
        	from pyxl320 import xl320
        	from pyxl320 import ServoSerial, Packet, utils
        
        	serial = ServoSerial('/dev/tty.usbserial')  # tell it what port you want to use
        	# serial = ServoSerial('/dev/tty.usbserial', fake=True)  # use a dummy serial interface for testing
        	serial.open()
        
        	pkt = Packet.makeServoPacket(1, 158.6)  # move servo 1 to 158.6 degrees
        	ret = serial.sendPkt(pkt)  # send packet, I don't do anything with the returned status packet
        
        	pkt = packet.makeLEDPacket(1, pyxl320.XL320_LED_GREEN)
        	ret = serial.sendPkt(pkt)
        	print('Status packet:', ret)  # here I print out the status packet returned
        
        Although I have made some packet creators (like LED and Servo), you can make
        your own using the basic ``makeWritePacket`` and ``makeReadPacket``.
        
        .. code-block:: python
        
        	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)
        
        
        Change Log
        -------------
        
        ========== ======= =============================
        2017-04-01 0.9.0   added python3 support
        2017-03-26 0.8.0   major overhaul and removed the GPIO stuff
        2017-03-19 0.7.7   can switch between GPIO pin and pyserial.setRTS()
        2017-02-20 0.7.6   small fixes and added servo_reboot
        2017-01-16 0.7.5   fixes some small errors
        2016-11-29 0.7.4   add bulk write and small changes
        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
        ========== ======= =============================
        
        Software 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.
        
Keywords: dynamixel,xl320,xl-320,servo,actuator,library,robotics,robot,smart,spider
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Intended Audience :: Developers
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3.6
Classifier: Topic :: Software Development :: Libraries
Classifier: Topic :: Software Development :: Libraries :: Python Modules
Classifier: Topic :: Software Development :: Libraries :: Application Frameworks
