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        "author": "Lukas Scheffler",
        "author_email": "luke@lukecodewalker.de",
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            "Development Status :: 5 - Production/Stable",
            "Intended Audience :: Developers",
            "License :: OSI Approved :: MIT License",
            "Natural Language :: English",
            "Operating System :: OS Independent",
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        "description": "Python TMCL client library\n==========================\n\n<p align=\"center\">\n\t<a><img src=\"https://img.shields.io/github/last-commit/LukeSkywalker92/pyTMCL.svg\" alt=\"Latest Comit\"></a>\n\t<a href=\"https://travis-ci.com/LukeSkywalker92/pyTMCL\"><img src=\"https://travis-ci.com/LukeSkywalker92/pyTMCL.svg?branch=master\" alt=\"Travis\"></a>\n\t<a href=\"https://badge.fury.io/py/pyTMCL\"><img src=\"https://badge.fury.io/py/pyTMCL.svg\" alt=\"PyPI version\" height=\"20\"></a>\n\t<a><img src=\"https://img.shields.io/pypi/pyversions/pyTMCL.svg\" alt=\"pyversions\"></a>\n</p>\n\nClone of [NativeDesign/python-tmcl](https://github.com/NativeDesign/python-tmcl)\n\nPython wrapper around Trinamic's TMCL serial interface for controlling TMCM stepper modules\nvia a serial-to-rs485 converter.\n\n\n\nInstallation\n------------\n\n### Install using pip\n```sh\n> pip install pytmcl\n```\n\n### Install without pip\n```sh\n> git clone https://github.com/LukeSkywalker92/pyTMCL.git\n> cd pyTMCL\n> python setup.py install\n```\n\n\nUsage\n-----\n\nUse an RS485-to-serial adapter to connect your PC to one or more TMCM modules.\nBefore starting you should check the modules' serial-address and baud-rate is\na known value. Out of the box (_warning: anecdotal_) modules usually have an address\nof `1` and a baud-rate of `9600` but this is not guarenteed. The easiest way to check\nthese values is by using the [TMCL IDE][1] on a windows machine.\n\nIf using multiple TMCM modules attached to the same rs485 bus you __must__ ensure that\neach module is set to a _different_ serial-address so that they don't clash.\n\n\n### Example usage (single-axis modules)\n```python\nfrom serial import Serial\nfrom time import sleep\nimport pyTMCL\n\n## serial-address as set on the TMCM module.\nMODULE_ADDRESS = 1\n\n## Open the serial port presented by your rs485 adapter\nserial_port = Serial(\"/dev/tty.usbmodem1241\")\n\n## Create a Bus instance using the open serial port\nbus = pyTMCL.connect(serial_port)\n\n## Get the motor\nmotor = bus.get_motor(MODULE_ADDRESS)\n\n## From this point you can start issuing TMCL commands\n## to the motor as per the TMCL docs. This example will\n## rotate the motor left at a speed of 1234 for 2 seconds\nmotor.rotate_left(1234)\nsleep(2)\nmotor.stop()\n```\n\n\n### Example usage (multi-axis modules)\n```python\nfrom serial import Serial\nimport pyTMCL\n\n## Open the serial port presented by your rs485 adapter\nserial_port = Serial(\"/dev/tty.usbmodem1241\")\n\n## Create a Bus instance using the open serial port\nbus = pyTMCL.connect(serial_port)\n\n## Get the motor on axis 0 of module with address 1\nmodule = bus.get_module( 1 )\n\na0 = module.get_motor(0)\na1 = module.get_motor(1)\na2 = module.get_motor(2)\n\n```\n\n### Example usage (callbacks)\n```python\nfrom serial import Serial\nfrom time import sleep\nimport pyTMCL\n\n# serial-address as set on the TMCM module.\nMODULE_ADDRESS = 0\n\n# Open the serial port presented by your rs485 adapter\nserial_port = Serial(\"COM4\")\n\n# Create a Bus instance using the open serial port\nbus = pyTMCL.connect(serial_port)\n\n# Get the motor\nmotor = bus.get_motor(MODULE_ADDRESS)\nmotor.axis.max_positioning_speed = 200\n# From this point you can start issuing pyTMCL commands\n# to the motor as per the pyTMCL docs. This example will\n# rotate the motor left at a speed of 1234 for 2 seconds\n\n\ndef angle_to_steps(angle):\n    return int(angle * 256 / 1.8)\n\ndef callback(arg1, arg2):\n\tprint(\"Argument 1: \" + str(arg1) + \"  Argument2: \" + str(arg2))\n\nmotor.move_relative(angle_to_steps(360), callback=callback, args=(\"Finished Moving\", \"Turned 360 Degree\"))\n```\n\n\nAPI Overview\n------------\n\n\n#### class Motor (bus, address, axis)\n\n##### `move_absolute (position, callback=None, args=(), kwargs={})`\nMove the motor to the specified _absolute_ position.\nCall callback function with `*args` and `**kwargs` when position is reached. (callback is optional).\n\n##### `move_relative (offset, callback=None, args=(), kwargs={})`\nMove the motor by the specified offset _relative to current position_.\nCall callback function with `*args` and `**kwargs` when position is reached. (callback is optional).\n\n##### `reference_search (rfs_type)`\nStart a reference search routine to locate limit switches.\n\n##### `rotate_left (velocity)`\nRotate the motor left-wards at the specified velocity.\n\n##### `rotate_right (velocity)`\nRotate the motor right-wards at the specified velocity.\n\n##### `run_command (cmd)`\nExecute a predefined user subroutine written to TMCM module firmware\n\n##### `send (cmd, type, motorbank, value)`\nSend a raw TMCL command to the motor.\n\n##### `stop ()`\nStop the motor\n\n\n[1]: https://www.trinamic.com/support/software/tmcl-ide/",
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        "keywords": "tmcl,trinamic,rs485,stepper,motor,tmcm",
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        "summary": "Talk to Trinamic Stepper Motors using TMCL over serial",
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