{
    "info": {
        "author": "Jeremie DECOCK",
        "author_email": "jd.jdhp@gmail.com",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 4 - Beta",
            "Intended Audience :: Developers",
            "License :: OSI Approved :: MIT License",
            "Natural Language :: English",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 3",
            "Topic :: Software Development :: Libraries",
            "Topic :: Software Development :: Libraries :: Application Frameworks",
            "Topic :: Software Development :: Libraries :: Python Modules"
        ],
        "description": ".. image:: https://readthedocs.org/projects/pyax-12/badge/?version=latest\n    :target: https://readthedocs.org/projects/pyax-12/?badge=latest\n    :alt: Documentation Status\n\n==========\n`PyAX-12`_\n==========\n\nCopyright (c) 2010,2015 Jeremie DECOCK (http://www.jdhp.org)\n\n\n* Web site: http://www.jdhp.org/projects_en.html#pyax12\n* Online documentation: http://pyax-12.readthedocs.org\n* Source code: https://github.com/jeremiedecock/pyax12\n* Issue tracker: https://github.com/jeremiedecock/pyax12/issues\n* PyAX-12 on PyPI: https://pypi.python.org/pypi/pyax12\n\nIn collaboration with http://www.vorobotics.com\n\n\nDescription\n===========\n\n`PyAX-12`_ is an open source lightweight Python library to control\n`Dynamixel AX-12+`_ actuators.\n\n|Watch a demo on youtube|_\n\nNote:\n\n    This project is still in beta stage, so the API is not finalized yet.\n\n\nDependencies\n============\n\n-  Python >= 3.0\n-  `Python-serial`_\n\nPyAX-12 is tested to work with Python 3.4 under Gnu/Linux (Debian 8), MacOSX\n(Mavericks 10.9) and Windows (7).\nAny Python 3.X version under recent Gnu/Linux, MaxOSX and Windows systems\nshould suit too.\n\nPyAX-12 can also be run on `Raspberry Pi`_ through the GPIO connector.\n\n`Python-serial`_ is the only dependency required to install PyAX-12.\n\nNote:\n\n    If you use ``pip`` to install PyAX-12, Python-serial will be automatically\n    downloaded and installed (see the following install_ section).\n\n\n.. _install:\n\nInstallation\n============\n\nGnu/Linux\n---------\n\nYou can install, upgrade, uninstall PyAX-12 with these commands (in a\nterminal)::\n\n    pip install --pre pyax12\n    pip install --upgrade pyax12\n    pip uninstall pyax12\n\nOr, if you have downloaded the PyAX-12 source code::\n\n    python3 setup.py install\n\n.. There's also a package for Debian/Ubuntu::\n.. \n..     sudo apt-get install pyax12\n\nWindows\n-------\n\n.. Note:\n.. \n..     The following installation procedure has been tested to work with Python\n..     3.4 under Windows 7.\n..     It should also work with recent Windows systems.\n\nYou can install, upgrade, uninstall PyAX-12 with these commands (in a\n`command prompt`_)::\n\n    py -m pip install --pre pyax12\n    py -m pip install --upgrade pyax12\n    py -m pip uninstall pyax12\n\nOr, if you have downloaded the PyAX-12 source code::\n\n    py setup.py install\n\nMacOSX\n-------\n\n.. Note:\n.. \n..     The following installation procedure has been tested to work with Python\n..     3.5 under MacOSX 10.9 (*Mavericks*).\n..     It should also work with recent MacOSX systems.\n\nYou can install, upgrade, uninstall PyAX-12 with these commands (in a\nterminal)::\n\n    pip install --pre pyax12\n    pip install --upgrade pyax12\n    pip uninstall pyax12\n\nOr, if you have downloaded the PyAX-12 source code::\n\n    python3 setup.py install\n\n\nHardware setup\n==============\n\n`Official AX-12 documentation <https://web.archive.org/web/20101008170532/http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm>`__ (archive).\n\nConnecting AX-12 actuators to a computer (including Raspberry Pi computers) through USB port\n--------------------------------------------------------------------------------------------\n\nThe USB2Dynamixel_ can be used to connect AX-12 actuators to your computer.\nActually, any FTDI serial/USB converter device should do the job.\n\nFor more information on USB2Dynamixel setup, check the\n`official documentation <http://support.robotis.com/en/product/auxdevice/interface/usb2dxl_manual.htm>`__.\n\nConnecting AX-12 actuators to a Raspberry Pi through GPIO port\n--------------------------------------------------------------\n\nA small electronic circuit is needed to convert Raspberry Pi UART signals (on\nRX and TX pins) to the half-duplex ones required by Dynamixels (see\n`this archive <https://web.archive.org/web/20100414173935/support.robotis.com/en/product/dynamixel/dxl_ax_main.htm>`__).\n\nThe chips that converts full-duplex into half-duplex are either 74HC126/74HC04\nor 74LS241.\n\nControl Dynamixel AX-12 with the 74LS241\n''''''''''''''''''''''''''''''''''''''''\n\nHere are the schematics of the electronic circuit required to control Dynamixel\nAX-12 with the 74LS241.\n\n.. image:: https://github.com/jeremiedecock/pyax12/raw/master/docs/images/breadboard.png\n    :alt: 74LS241 breadboard\n    :align: center\n\n.. image:: https://github.com/jeremiedecock/pyax12/raw/master/docs/images/schema.png\n    :alt: 74LS241 schematic\n    :align: center\n\nAdditional explanation can be found on the following pages:\n\n- http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi\n- http://memememememememe.me/post/the-dynamixel-ax-12a-servos/\n- http://robottini.altervista.org/dynamixel-ax-12a-and-arduino-how-to-use-the-serial-port\n- http://savageelectronics.blogspot.fr/2011/01/arduino-y-dynamixel-ax-12.html\n\nA PCB by Thiago Hersan is freely available here:\n\n- https://circuits.io/circuits/267189-ax-12-driver-for-raspberry-pi/#pcb\n\nFor other schematics, check the following pages:\n\n- http://memememememememe.me/assets/posts/the-dynamixel-ax-12a-servos/uart_half-duplex_74LS241.jpg\n- https://circuits.io/circuits/267189-ax-12-driver-for-raspberry-pi/#schematic\n- http://robottini.altervista.org/wp-content/uploads/2011/12/Dynamixel-Arduino-electric-schema-1024x768.jpg (this one doesn't link pins 3 and 20 by a resistor)\n\nControl Dynamixel AX-12 with the 774HC126/74HC04\n''''''''''''''''''''''''''''''''''''''''''''''''\n\nFor the 74HC126/74HC04, check the following page:\n\n- `Robotis support <https://web.archive.org/web/20100414173935/support.robotis.com/en/product/dynamixel/dxl_ax_main.htm>`__ (archive)\n\nUART configuration\n''''''''''''''''''\n\nIncreasing the bandwidth up to 1Mbps may require a special setup (not tested\nyet):\n\n- http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi\n- http://fw.hardijzer.nl/?p=138\n\nOtherwise keeping the bandwidth to 57600bps should work out of the box\n(make sure you use the right Dynamixel ID and the Dynamixel bandwidth\nis properly setup to 56700bps).\n\nAdditional information\n''''''''''''''''''''''\n\nSee also: https://github.com/jeremiedecock/raspberry-pi-python-snippets/tree/master/dynamixel_ax12\n\nDocumentation\n=============\n\n.. PyAX-12 documentation is available on the following page:\n.. \n..     http://pyax-12.rtfd.org/\n\n- Online Documentation: http://pyax-12.readthedocs.org\n- API Documentation: http://pyax-12.readthedocs.org/en/latest/api.html\n\n\nExample usage\n=============\n\n.. Please check whether the serial port, the baud rate and the\n.. Dynamixel IDs defined in the following examples fits with your hardware.\n\nIn the following examples, the ``dynamixel_id``, ``port`` and ``baudrate``\nvalues should be adapted depending on your configuration:\n\n- for **Linux** users:\n  \n  - the ``port`` value should be something like\n  \n    - \"/dev/ttyS0\", \"/dev/ttyS1\", ... if you use an actual serial port\n    - \"/dev/ttyUSB0\", \"/dev/ttyUSB1\", ... if you use an `USB to serial` adapter\n      (like the USB2Dynamixel_ adapter)\n\n  - the ``baudrate`` value should be the same than the one configured in\n    Dynamixel units\n\n- for **Windows** users:\n\n  - the ``port`` value should be something like \"COM2\", \"COM3\", ... (see the\n    *COM port* configuration in the Windows `device manager`_)\n  - the ``baudrate`` value should be the same than the one configured in\n    the Dynamixel units *and* the Windows `device manager`_ (i.e. check the\n    *COM port* configuration in the Windows `device manager`_)\n\n- for **MacOSX** users:\n  \n  - the ``port`` value should be something like \"/dev/tty.usbserial-XXX\" if you\n    use an `USB to serial` adapter like the USB2Dynamixel_ adapter\n  - the ``baudrate`` value should be the same than the one configured in\n    Dynamixel units\n\n- for **Raspberry Pi** users:\n\n  - if you want to control AX-12 actuators through GPIO connector, don't forget\n    to set ``rpi_gpio`` to ``True`` in the ``Connection`` constructor (check\n    the first following example)\n  - the ``port`` value should be \"/dev/ttyAMA0\"\n\nIf you use the USB2Dynamixel_ device, make sure its switch is set on \"TTL\".\n\nSome other examples are available in the examples_ directory.\n\nPing a Dynamixel\n----------------\n\nThis snippet prints ``True`` if the specified Dynamixel unit is connected and\navailable at the given `baudrate`; otherwise it prints ``False``.\n\n::\n\n    from pyax12.connection import Connection\n\n    # Connect to the serial port\n    serial_connection = Connection(port=\"/dev/ttyUSB0\", baudrate=57600)\n\n    dynamixel_id = 3\n\n    # Ping the third dynamixel unit\n    is_available = serial_connection.ping(dynamixel_id)\n\n    print(is_available)\n\n    # Close the serial connection\n    serial_connection.close()\n\n\nRaspberry Pi users who connected AX-12 actuators to the GPIO connector should\nuse the following code instead::\n\n    from pyax12.connection import Connection\n\n    # Connect to the serial port\n    serial_connection = Connection(port=\"/dev/ttyAMA0\", rpi_gpio=True)\n\n    dynamixel_id = 3\n\n    # Ping the third dynamixel unit\n    is_available = serial_connection.ping(dynamixel_id)\n\n    print(is_available)\n\n    # Close the serial connection\n    serial_connection.close()\n\n\nScan (search available Dynamixel units)\n---------------------------------------\n\nThis snippet prints the ID list of connected and available Dynamixel units (at\nthe given `baudrate`).\n\n::\n\n    from pyax12.connection import Connection\n\n    # Connect to the serial port\n    serial_connection = Connection(port=\"/dev/ttyUSB0\", baudrate=57600)\n\n    # Ping the dynamixel unit(s)\n    ids_available = serial_connection.scan()\n\n    for dynamixel_id in ids_available:\n        print(dynamixel_id)\n\n    # Close the serial connection\n    serial_connection.close()\n\n\nPrint the control table of the first Dynamixel unit\n---------------------------------------------------\n\nThis snippet prints the control table of the specified Dynamixel unit (i.e. the\ninternal state information of the Dynamixel unit).\n\n::\n\n    from pyax12.connection import Connection\n\n    # Connect to the serial port\n    serial_connection = Connection(port=\"/dev/ttyUSB0\", baudrate=57600)\n\n    dynamixel_id = 1\n\n    # Print the control table of the specified Dynamixel unit\n    serial_connection.pretty_print_control_table(dynamixel_id)\n\n    # Close the serial connection\n    serial_connection.close()\n\nThis snippet should print something like that::\n\n    model_number................. AX-12+\n    firmware_version............. 24\n    id........................... 1\n    baud_rate.................... 57142.9 bps\n    return_delay_time............ 500 \u00b5s\n    cw_angle_limit............... -150.0\u00b0 (0)\n    ccw_angle_limit.............. 150.0\u00b0 (1023)\n    max_temperature.............. 70\u00b0C\n    min_voltage.................. 6.0V\n    max_voltage.................. 14.0V\n    max_torque................... 1023\n    status_return_level.......... 2 (respond to all instructions)\n    input_voltage_alarm_led...... off\n    angle_limit_alarm_led........ off\n    overheating_alarm_led........ on\n    range_alarm_led.............. off\n    checksum_alarm_led........... off\n    overload_alarm_led........... on\n    instruction_alarm_led........ off\n    input_voltage_alarm_shutdown. off\n    angle_limit_alarm_shutdown... off\n    overheating_alarm_shutdown... on\n    range_alarm_shutdown......... off\n    checksum_alarm_shutdown...... off\n    overload_alarm_shutdown...... on\n    instruction_alarm_shutdown... off\n    down_calibration............. 46\n    up_calibration............... 972\n    torque_enabled............... yes\n    led.......................... off\n    cw_compliance_margin......... 0.3\u00b0 (1)\n    ccw_compliance_margin........ 0.3\u00b0 (1)\n    cw_compliance_slope.......... 9.4\u00b0 (32)\n    ccw_compliance_slope......... 9.4\u00b0 (32)\n    goal_position................ -0.1\u00b0 (511)\n    moving_speed................. 512\n    torque_limit................. 1023\n    present_position............. -0.1\u00b0 (511)\n    present_speed................ 0\n    present_load................. 0\n    present_voltage.............. 12.1V\n    present_temperature.......... 43\u00b0C\n    registred_instruction........ no\n    moving....................... no\n    locked....................... no\n    punch........................ 32\n\nMove the first Dynamixel unit to various position angles\n--------------------------------------------------------\n\nThis snippet moves the first Dynamixel unit to 0\u00b0, then -45\u00b0, -90\u00b0, -135\u00b0,\n-150\u00b0 (the maximum CW angle), +150\u00b0 (the maximum CCW angle), +135\u00b0, +90\u00b0, +45\u00b0\nand finally goes back to 0\u00b0.\n\n::\n\n    from pyax12.connection import Connection\n    import time\n\n    # Connect to the serial port\n    serial_connection = Connection(port=\"/dev/ttyUSB0\", baudrate=57600)\n\n    dynamixel_id = 1\n\n    # Go to 0\u00b0\n    serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to -45\u00b0 (45\u00b0 CW)\n    serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to -90\u00b0 (90\u00b0 CW)\n    serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to -135\u00b0 (135\u00b0 CW)\n    serial_connection.goto(dynamixel_id, -135, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to -150\u00b0 (150\u00b0 CW)\n    serial_connection.goto(dynamixel_id, -150, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to +150\u00b0 (150\u00b0 CCW)\n    serial_connection.goto(dynamixel_id, 150, speed=512, degrees=True)\n    time.sleep(2)    # Wait 2 seconds\n\n    # Go to +135\u00b0 (135\u00b0 CCW)\n    serial_connection.goto(dynamixel_id, 135, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to +90\u00b0 (90\u00b0 CCW)\n    serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go to +45\u00b0 (45\u00b0 CCW)\n    serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)\n    time.sleep(1)    # Wait 1 second\n\n    # Go back to 0\u00b0\n    serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)\n\n    # Close the serial connection\n    serial_connection.close()\n\n\nBug reports\n===========\n\nTo search for bugs or report them, please use the PyAX-12 Bug Tracker at:\n\n    https://github.com/jeremiedecock/pyax12/issues\n\n\n.. _related-libraries:\n\nRelated libraries\n=================\n\nOther libraries to control `Dynamixel AX-12+`_ actuators are referenced in the\nfollowing (non comprehensive) list:\n\n- PyPot_ by Inria (FLOWERS team)\n- PyDynamixel_ by Richard Clark\n- Pydyn_ by Fabien Benureau and Olivier Mangin (Inria FLOWER team)\n- Dynamixel_ by Ian Danforth\n- dynamixel_hr_ by Romain Reignier\n- python_dynamixels_ by Jesse Merritt\n- ax12_ by Thiago Hersan\n- `Dynamixel Monitor`_ by Christian Balkenius\n- DynamixelMonitor_ by Slavik\n\n\nLicense\n=======\n\nThe ``PyAX-12`` library is provided under the terms and conditions of the\n`MIT License`_.\n\n\n.. _MIT License: http://opensource.org/licenses/MIT\n\n.. _PyAX-12: http://www.jdhp.org/projects_en.html#pyax12\n.. _Dynamixel AX-12+: http://en.robotis.com/index/product.php?cate_code=10101111&bbs_no=6#product_title\n.. _examples: https://github.com/jeremiedecock/pyax12/tree/master/examples\n.. _USB2Dynamixel: http://support.robotis.com/en/product/auxdevice/interface/usb2dxl_manual.htm\n.. _Python-serial: https://github.com/pyserial/pyserial\n.. _command prompt: https://en.wikipedia.org/wiki/Cmd.exe\n.. _device manager: http://windows.microsoft.com/en-us/windows/open-device-manager\n.. _Raspberry Pi: https://www.raspberrypi.org/\n\n.. _PyPot: https://github.com/poppy-project/pypot\n.. _Pydyn: https://github.com/humm/pydyn\n.. _PyDynamixel: https://github.com/richard-clark/PyDynamixel\n.. _Dynamixel : https://pypi.python.org/pypi/dynamixel/1.0.1\n.. _dynamixel_hr : https://github.com/HumaRobotics/dynamixel_hr\n.. _python_dynamixels : https://github.com/jes1510/python_dynamixels\n.. _ax12 : https://github.com/thiagohersan/memememe/tree/master/Python/ax12\n.. _Dynamixel Monitor : http://robosavvy.com/forum/viewtopic.php?p=42991\n.. _DynamixelMonitor : https://github.com/slavikshen/DynamixelMonitor\n\n.. |Watch a demo on youtube| image:: http://download.tuxfamily.org/jdhp/image/pyax12_demo_youtube.jpeg\n.. _Watch a demo on youtube: http://youtu.be/5r0mNPhpf04\n",
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