This helper is a wrapper for the Dynamixel-SDK. With this, configure and drive your motor more quickly. You do not need to know how the SDK works. In other words, this helper makes it easy to modify the control table.
pip install dynamixel_helper --user
Table of Contents
- Features
- Simple Example
- Getting Started
- Tutorials
- Release Notes
- Current Coverage
- Contributing
- Maintainers
- Licenses
- Baud rate auto-matching
- Protocol auto-matching
- Port auto-matching (Easy connections in multi-USB)
- Motor configurations in JSON format
- Support for Python 3 and 2
- Make your code simple and clean
- Easy to use even for beginners.
The following code is an example of turning on the motor torque.
from dynamixel_helper import DxlHelper
helper = DxlHelper("preset/{my_robot}.json")
motor = helper.get_motor(0) # id: 0
motor.set_torque(True)
-
pip (package manager)
# Python 2 sudo apt install python-pip python -m pip install -U pip # Python 3 sudo apt install python3-pip python3 -m pip install -U pip
-
Dynamixel SDK
CAUTION💥: Please install the
pip
before installing theDynamixel SDK
. Otherwise, when you install thisDynamixel Helper
, you will get an dependency error ofDynamixel SDK
.You need to install the official Dynamixel SDK before using this helper.
Click here: Dynamixel SDK Installation
-
Clone the official SDK repository into your custom folder, for example, I created
~/lib
.git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-
Go into the folder
/DynamixelSDK/python
of your cloned SDK.cd ${your_download_path}/DynamixelSDK/python
-
Run
setup.py
with--user
option to install the library. Administrator privileges, a.k.a.sudo
, are not recommended. More information here.python setup.py install --user
-
Simply type pip
command below to install this helper.
pip install dynamixel_helper --user
- Tested models
- Non-tested models (Only the control tables are included.)
Different models have slightly different control tables. Please check the documentation for each model. Just click the model name above to go to the document.
- EEPROM section
- drive mode (w)
- operating mode (w)
- RAM section
- torque (r/w)
- goal velocity (w)
- goal position (w)
- present velocity (r)
- present position (r)
- We will welcome whatever your contribution is!
- If you are planning to send a new
Pull request
, please send them into thedevelop
Branch.😍
This style guide is only a recommendation, never more important than your interest and contributions.
-
Our default Python style is PEP 8.
-
If you use VSCode as your code editor, please refer to the following settings. This setting is a part of our
setting.json
.{ "editor.tabSize": 4, "[json]": { "editor.tabSize": 2 }, "python.linting.pylintEnabled": false, "python.linting.pep8Enabled": true, "python.linting.enabled": true }
The contents of this repository are subject to the MIT License by default, except as noted below.
- Dynamixel SDK is under the Apache-2.0