Metadata-Version: 1.1
Name: pyxl320
Version: 0.5.1
Summary: A library to control dynamixel XL-320 servos with python
Home-page: http://github.com/walchko
Author: Kevin Walchko
Author-email: kevin.walchko@outlook.com
License: MIT
Description: pyXL320
        =========
        
        .. image:: https://landscape.io/github/walchko/pyxl320/master/landscape.svg?style=flat
           :target: https://landscape.io/github/walchko/pyxl320/master
           :alt: Code Health
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            :alt: Latest Version
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            :alt: Downloads
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            :alt: License
        
        This is still a work in progress and **only** supports XL-320 and **only**
        version 2.0 of their protocol. 
        
        .. image:: https://github.com/walchko/pyxl320/blob/master/pics/xl-320.jpg
        	:align: center
        	
        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
        --------
        
        .. code:: 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.open()
        
        	pkt = Packet.makeServoPacket(1, 158.6)  # move servo 1 to 158.6 degrees
        	serial.write(pkt)  # send packet to servo
        	ans = serial.read()  # get return status packet
        
        	if packet.isError(ans):
        		pkt = packet.makeLEDPacket(1, pyxl320.XL320_LED_RED)
        		serial.write(pkt)
        		raise Exception('servo error: {}'.format(packet.errorString(ans)))
        
        Al though I have made some packet creators (like LED and Servo), you can make
        your own using the basic ``makeWritePacket`` and ``makeReadPacket``.
        
        .. code:: 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)
        
        
        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
        ---------
        
        .. image:: https://github.com/walchko/pyxl320/blob/master/pics/xl320_2.png
        	:align: center
        
        .. image:: https://github.com/walchko/pyxl320/blob/master/pics/circuit.png
        	:align: center
        
        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.
        
        - `XL-320 e-Manual <http://support.robotis.com/en/product/dynamixel/x_series/xl-320.htm>`_
        - `XL-320 hardware and half duplex circuit <http://support.robotis.com/en/product/dynamixel/xl-320.htm>`_
        - `Dynamixel Protocol Ver. 2 <http://support.robotis.com/en/product/dynamixel_pro/communication/instruction_status_packet.htm>`_
        - `PySerial <http://pyserial.readthedocs.io/en/latest/index.html>`_
        
        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
        -------------
        
        ========== ======= =============================
        2016-09-05 0.5.0   published to PyPi
        2016-08-16 0.0.1   init
        ========== ======= =============================
        
Keywords: dynamixel xl320 xl-320 servo actuator library robotics 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: Topic :: Software Development :: Libraries
Classifier: Topic :: Software Development :: Libraries :: Python Modules
Classifier: Topic :: Software Development :: Libraries :: Application Frameworks
