Welcome to Python Dynamixel’s documentation!¶
Python Dynamixel¶
Python package to use Dynamixel servos through a serial interface (unofficial, easier SDK).
Post-creation¶
- read the docs
- ça a buggé, j’ai créé le projet à la main, et ensuite tout a fonctionné
- pepy.tech
Documentation¶
The full documentation can be read at https://pydxl.readthedocs.io.
Example code:
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
- 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.
Installation¶
Stable release¶
To install Python Dynamixel, run this command in your terminal:
$ pip install pydxl
This is the preferred method to install Python Dynamixel, as it will always install the most recent stable release.
If you don’t have pip installed, this Python installation guide can guide you through the process.
From sources¶
The sources for Python Dynamixel can be downloaded from the Github repo.
You can either clone the public repository:
$ git clone git://github.com/vpoulailleau/pydxl
Or download the tarball:
$ curl -OL https://github.com/vpoulailleau/pydxl/tarball/master
Once you have a copy of the source, you can install it with:
$ python setup.py install
Contributing¶
Contributions are welcome, and they are greatly appreciated! Every little bit helps, and credit will always be given.
You can contribute in many ways:
Types of Contributions¶
Report Bugs¶
Report bugs at https://github.com/vpoulailleau/pydxl/issues.
If you are reporting a bug, please include:
- Your operating system name and version.
- Any details about your local setup that might be helpful in troubleshooting.
- Detailed steps to reproduce the bug.
Fix Bugs¶
Look through the GitHub issues for bugs. Anything tagged with “bug” and “help wanted” is open to whoever wants to implement it.
Implement Features¶
Look through the GitHub issues for features. Anything tagged with “enhancement” and “help wanted” is open to whoever wants to implement it.
Write Documentation¶
Python Dynamixel could always use more documentation, whether as part of the official Python Dynamixel docs, in docstrings, or even on the web in blog posts, articles, and such.
Submit Feedback¶
The best way to send feedback is to file an issue at https://github.com/vpoulailleau/pydxl/issues.
If you are proposing a feature:
- Explain in detail how it would work.
- Keep the scope as narrow as possible, to make it easier to implement.
- Remember that this is a volunteer-driven project, and that contributions are welcome :)
Get Started!¶
Ready to contribute? Here’s how to set up pydxl for local development.
Fork the pydxl repo on GitHub.
Clone your fork locally:
$ git clone git@github.com:your_name_here/pydxl.git
Install your local copy into a virtualenv. Set up your fork for local development:
$ python3 -m venv venv $ source venv/bin/activate $ cd pydxl/ $ python setup.py develop
Create a branch for local development:
$ git checkout -b name-of-your-bugfix-or-feature
Now you can make your changes locally.
When you’re done making changes, check that your changes pass whatalinter and the tests, including testing other Python versions with tox:
$ flake8 pydxl tests (TODO use whatalinter from python-dev-tools) $ py.test $ tox
Commit your changes and push your branch to GitHub:
$ git add . $ git commit -m "Your detailed description of your changes." $ git push origin name-of-your-bugfix-or-featureSubmit a pull request through the GitHub website.
Pull Request Guidelines¶
Before you submit a pull request, check that it meets these guidelines:
- The pull request should include tests.
- If the pull request adds functionality, the docs should be updated. Put your new functionality into a function with a docstring, and add the feature to the list in README.rst.
- The pull request should work for Python 3.6, and 3.7. Check https://travis-ci.org/vpoulailleau/pydxl/pull_requests and make sure that the tests pass for all supported Python versions.
Credits¶
Development Lead¶
- Vincent Poulailleau <vpoulailleau@gmail.com>
Contributors¶
None yet. Why not be the first?