{
    "info": {
        "author": "SR",
        "author_email": "sr-dev@smartrobotics.jp",
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        "classifiers": [
            "License :: OSI Approved :: MIT License",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 3"
        ],
        "description": "# AmarettoPy\n\nPython library to control Buildit servo actuators (only for python3)\n\n\n## Install\n\n### Windows\n\n```\n$ pip3 install amarettopy\n```\n\n### Ubuntu\n\n```\n$ sudo apt-get -y install python3-tk\n$ pip3 install amarettopy\n```\n\n## Usage\n\n### amarettopy library\n\n* \u30e9\u30a4\u30d6\u30e9\u30ea\u306b\u3064\u3044\u3066\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\n    * https://smartrobotics.github.io/AmarettoPy-doc/amarettopy.html\n\n* \u521d\u671f\u5316\n\n```\n>>> from amarettopy import *\n>>> amaretto = AmarettoPy(port=\"/dev/ttyXXXX\", timeout_ms=3000) #for Linux\n>>> amaretto = AmarettoPy(port=\"COMX\", timeout_ms=3000) #for Win\n>>> deviceId = 1\n```\n\n* \u73fe\u5728\u306e\u4f4d\u7f6e\u3084\u901f\u5ea6\u3068\u3044\u3063\u305f\u60c5\u5831\u306e\u53d6\u5f97\n\n```\n>>> (position, velocity, current, referenceValue, temperature, faults) = amaretto.query_servo_status(deviceId)\n>>> print(state2str(amaretto.state()))\n```\n\n* \u901f\u5ea6\u5236\u5fa1\u3068\u4f4d\u7f6e\u5236\u5fa1\u306e\u65b9\u6cd5\n\n```\n>>> #amaretto.clear_fault(deviceId)\n>>> amaretto.ready(deviceId)\n>>> amaretto.set_ref_velocity(deviceId, fromRPM(42.5))\n>>> amaretto.set_ref_position(deviceId, fromDegree(180))\n```\n\n\n### amrtctl\n\namrtctl \u306f AmarettoPy \u306e\u5404\u30e1\u30bd\u30c3\u30c9\u3092\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u304b\u3089\u547c\u3073\u51fa\u3059\u70ba\u306e\u30c4\u30fc\u30eb\u3067\u3059\u3002\n\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u30fc\u306e\u72b6\u614b\u3092\u78ba\u8a8d\u3059\u308b\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002\n\n```\n$ amrtctl query-servo-status -d 1 -p /dev/ttyUSB0\nstate: STATE_HOLD\npos: -51636\nvel: 0\ncur: 0\nref: 0\ntemp: 26\nfaults: NO_FAULTS\n```\n\n\u901f\u5ea6\u5236\u5fa1\u3092\u884c\u3046\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002\n\n```\n$ amrtctl ready -d 1 -p /dev/ttyUSB0\n\n$ amrtctl set-ref-velocity 2500 -d 1 -p /dev/ttyUSB0 # \u6307\u5b9a\u901f\u5ea6\u306e\u5358\u4f4d\u306f [rpm/100]\n0\n```\n\n\u4f4d\u7f6e\u5236\u5fa1\u3092\u884c\u3046\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002\n\n```\n$ amrtctl stop -d 1 -p /dev/ttyUSB0\n\n$ amrtctl set-ref-position 2500 -d 1 -p /dev/ttyUSB0 # \u6307\u5b9a\u4f4d\u7f6e\u306e\u5358\u4f4d\u306f [360/65536 \u5ea6]\n-39775\n```\n\n\n### amrtct-gui\n\namrtctl \u306f AmarettoPy \u306e\u5404\u30e1\u30bd\u30c3\u30c9\u3092\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u304b\u3089\u547c\u3073\u51fa\u3059\u70ba\u306e\u30c4\u30fc\u30eb\u3067\u3059\u3002\n\n```\n$ amrtctl-gui\n```\n\n\u30dd\u30fc\u30c8\u3092\u9078\u629e\u3057\u3001Connect\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u305f\u5f8c\u3001\u5404\u7a2e\u30dc\u30bf\u30f3\u3092\u4f7f\u3063\u3066\u30c7\u30d0\u30a4\u30b9\u3092\u64cd\u4f5c\u3059\u308b\u3053\u3068\u304c\u51fa\u6765\u307e\u3059\u3002\n\n\n\n\n\n\n\n",
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