https://github.com/vikashplus/dynamixel
Python interface for Dynamixels
https://github.com/vikashplus/dynamixel
Last synced: 11 days ago
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Python interface for Dynamixels
- Host: GitHub
- URL: https://github.com/vikashplus/dynamixel
- Owner: vikashplus
- License: apache-2.0
- Created: 2018-02-16T03:27:27.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2022-01-24T20:51:54.000Z (over 3 years ago)
- Last Synced: 2025-02-16T22:25:14.286Z (3 months ago)
- Language: Python
- Size: 47.9 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Python wrapper for dynamixels
Primarily designed for MX series
# Set up
0. Clone the [dynamixel robotis repo](https://github.com/ROBOTIS-GIT/DynamixelSDK.git).
Note that the repo has gone through changes that aren't backward compatible. Checkout an earlier commit compatibility .
```
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd DynamixelSDK
git checkout 2ae37fc2390eedcd8fe356f40ece398720db0532
```
1. build the c library
```
cd ~/Libraries/DynamixelSDK/c/build/linux64/
make
```
2. add path to the ctype wrapper in the bashrc
```export PYTHONPATH="/home/vik/Libraries/DynamixelSDK/python/dynamixel_functions_py:$PYTHONPATH"```
3. Edit `DynamixelSDK/python/dynamixel_functions_py/dynamixel_functions.py` to point to the right libraries (absolute path)
```dxl_lib = cdll.LoadLibrary("/home/vik/Libraries/DynamixelSDK/c/build/linux64/libdxl_x64_c.so")```
4. Edit user permissions to access ports
```
sudo usermod -a -G tty yourname
sudo usermod -a -G dialout yourname
```
Note that logout/login will be required for the group addition to take effect.
5. Port's latency can significantly affect your performance. You can check its value by:
```
$ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
```
If you think that the communication is too slow, type following after plugging the usb in to change the latency timer
Method 1.
```Type following (you should do this everytime when the usb once was plugged out or the connection was dropped)
$ echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
$ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
```
Method 2.
```If you want to set it as be done automatically, and don't want to do above everytime, make rules file in /etc/udev/rules.d/. For example,
$ echo ACTION==\"add\", SUBSYSTEM==\"usb-serial\", DRIVER==\"ftdi_sio\", ATTR{latency_timer}=\"1\" > 99-dynamixelsdk-usb.rules
$ sudo cp ./99-dynamixelsdk-usb.rules /etc/udev/rules.d/
```
Use commands below to reload the rules, or log-off+login for the new rules to take effect.
```
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger --action=add
$ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
```
6. Create identifiable link for your usb devices now. Check the serial of the device using
```
udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSBX) | grep serial
```
Now add a synlink to your udev file `/etc/udev/rules.d/99-dynamixel-usb.rules`. The final file will look something like this
```
ACTION=="add", SUBSYSTEM=="usb-serial", DRIVER=="ftdi_sio", ATTR{latency_timer}="1"
ACTION=="add", SUBSYSTEM=="tty", ENV{ID_MODEL_ID}=="6014", ENV{ID_VENDOR_ID}=="0403", ENV{ID_SERIAL_SHORT}=="FT3R4CCT", SYMLINK+="DKitty"
ACTION=="add", SUBSYSTEM=="tty", ENV{ID_MODEL_ID}=="6014", ENV{ID_VENDOR_ID}=="0403", ENV{ID_SERIAL_SHORT}=="FT2H2MX4", SYMLINK+="DLeg"
```
Note that logout/login will be required for the new rules to take effect. Alternatively one can also use `udevadm control -R`
# usage
1. Open dynamixel_utils.py and pick the connected dynamixel type
2. `python dynamixel_utils.py`to test