vpoulailleau/pydxl

================
Python Dynamixel
================

Python package to use Dynamixel servos through a serial interface (unofficial, easier SDK).

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Documentation
-------------

The full documentation can be read at https://pydxl.readthedocs.io.

Example code:

.. code:: python

    import time

    from pydxl import Mx28, SerialLink

    link = SerialLink(
        device="/dev/ttyUSB0", baudrate=1_000_000, protocol_version=1.0
    )

    servo = Mx28(identifier=1, serial_link=link)
    servo.ping()
    servo.led = True

    servo.torque_enable = True
    servo.goal_position = 2000
    print(servo.goal_position)
    time.sleep(3)
    servo.goal_position = 1500
    time.sleep(3)
    servo.torque_enable = False

    link.close()

Features
--------

* Use protocol 1.0 through a serial link, known to work with:

  * U2D2
  * USB2Dynamixel
  * DARwIn-OP (after having installed a more recent Python, tested with Python 3.7.2)

* Support servos:

  * MX-28

* TODO: implement protocol 2.0
* TODO: add more servo types

License
-------

BSD 3-Clause license, feel free to contribute: https://pydxl.readthedocs.io/en/latest/contributing.html.