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    "info": {
        "author": "Cordell Michaud",
        "author_email": "michaudcordell@users.noreply.github.com",
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        "classifiers": [
            "Development Status :: 5 - Production/Stable",
            "Intended Audience :: Science/Research",
            "License :: OSI Approved :: MIT License",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 2.7",
            "Programming Language :: Python :: 3"
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        "description": "# SimpleDrivetrain\r\nVersion: v1.0.1\r\n\r\nA Python library that facilitates the control of robot drivetrains with complex motor arrangements.\r\n\r\n## Table of Contents\r\n* [Overview](#overview)\r\n* [Current Features](#current-features)\r\n* [Roadmap](#roadmap)\r\n* [Requirements](#requirements)\r\n* [Installation](#installation)\r\n* [How to Use](#how-to-use)\r\n  - [Import simpledrivetrain](#import-simpledrivetrain)\r\n  - [Creating a SimpleDrivetrain object](#creating-a-simpledrivetrain-object)\r\n  - [Adding, removing, and accessing drive motors](#adding-removing-and-accessing-drive-motors)\r\n  - [Updating drivetrain orientation](#updating-drivetrain-orientation)\r\n  - [Getting motor velocities](#getting-motor-velocities)\r\n* [License](#license)\r\n\r\n## Overview\r\nSimpleDrivetrain provides an easy way to define a drivetrain by the location and orientation of its motors, and calculate the desired velocities for each motor given the overall desired translational velocity and rotational velocities for the drivetrain.\r\n\r\n## Current Features\r\n* Local-oriented and field-oriented 3-axis translation and rotation\r\n* Motor-level PWM scaling from user-defined PWM ranges or custom scaling functions\r\n* Support for loading drivetrains from an XML file\r\n\r\n## Roadmap\r\n* Motion profiles\r\n* Control loop\r\n\r\n## Requirements\r\n* Python 2.7+/3.x\r\n* Numpy\r\n* lxml\r\n\r\n## Installation\r\nInstall SimpleDrivetrain from PyPI by opening a terminal and typing the following command:\r\n```\r\n$ pip install simpledrivetrain\r\n```\r\n\r\n## How to Use\r\n### Import simpledrivetrain\r\n```python\r\nfrom simpledrivetrain.simple_drivetrain import SimpleDrivetrain\r\n```\r\n### Creating a SimpleDrivetrain object\r\n```python\r\ndrivetrain = SimpleDrivetrain()\r\n```\r\n### Adding, removing, and accessing drive motors\r\n* Motors can be added to the drivetrain by calling the ```add_new_motor``` \r\nmethod and supplying:\r\n    - The ```name``` of the motor, a unique string identifier\r\n    - The ```position``` of the motor relative to the drivetrain's \r\n      center in the form of a 3D coordinate list e.g. [x, y, z]\r\n    - The motor's positive drive ```direction``` in the form of a 3D cartesian direction vector\r\n      e.g. [x, y, z]\r\n    - Optionally, a boolean value ```inverted``` to set whether the motor is inverted \r\n    - Optionally, a 3-tuple ```pwm_bounds``` in the form of (FULL_REVERSE, FULL STOP, FULL_FORWARD) \r\n      to which to scale the motor velocity\r\n    - Optionally, a function ```pwm_scaling_func``` which accepts a motor velocity in [-1, 1] and \r\n      scales it to a desired pwm range\r\n    ```python\r\n    drivetrain.add_new_motor(name, position, direction, inverted=False, \r\n                             pwm_bounds=(0, 512, 1024), pwm_scaling_func=None)\r\n    ```\r\n* Motors can be removed from the drivetrain by calling the ```remove_motor_by_name```\r\n  method and supplying the ```name``` of the motor to remove\r\n  ```python\r\n  drivetrain.remove_motor_by_name(name)\r\n  ```\r\n  alternatively, a motor can also be removed from the drivetrain by calling the \r\n  ```remove_motor_by_index``` method and supplying the motor's ```index``` \r\n  of addition\r\n  ```python\r\n  drivetrain.remove_motor_by_index(index)\r\n  ```\r\n* Motors can be accessed by calling the ```get_motor_by_name``` method and supplying \r\n  the ```name``` of the motor to retrieve\r\n  ```python\r\n  motor = drivetrain.get_motor_by_name(name)\r\n  ```\r\n  alternatively, a motor can also be accessed by calling ```get_motor_by_index``` \r\n  method and supplying the motor's ```index``` of addition\r\n  ```python\r\n  motor = drivetrain.get_motor_by_index(index)\r\n  ```  \r\n* Motors can also be accessed through the motors instance variable, which stores the \r\n  motors by order of addition in a list\r\n  ```python\r\n  motorlist = drivetrain.motors\r\n  ```\r\n* Alternatively, motors and orientation can be loaded from an xml file by calling \r\n  the ```load_drivetrain_from_file``` method and supplying the ```filepath``` string \r\n  pointing to the xml file:\r\n  ```python\r\n  drivetrain.load_drivetrain_from_file(filepath)\r\n  ```\r\n  For an example file, see [Example SimpleDrivetrain xml FIle](tests/drivetrain_test.xml).\r\n\r\n### Updating drivetrain orientation\r\n```python\r\ndrivetrain.orientation = (pitch, roll, yaw)    \r\n```\r\n### Getting motor velocities\r\n* Motor velocities scaled in [-1, 1], stored in a list by order of motor \r\n    addition, can be calculated by calling the\r\n    ```get_motor_vels``` method and supplying:\r\n    - ```translation```, a 3D vector representing the drivetrain's desired \r\n        overall velocity, e.g. [x, y, z]\r\n    - ```rotation```, a 3D vector representing the drivetrain's desired \r\n        rotational velocity, e.g. [pitching, rolling, yawing]\r\n    - ```force_local_oriented```, a boolean value which, if set to true, \r\n    ignores current drivetrain orientation and calculates local-oriented \r\n    motor values. It is set to false by default.\r\n    ```python\r\n    drivetrain.get_motor_vels(translation, rotation, force_local_oriented=False)\r\n    ```\r\n* Motor velocities scaled according to user-defined, motor-level PWM ranges \r\n    or scaling functions, stored in a list by order of motor addition, can be \r\n    calculated by calling the ```get_motor_vels_scaled``` method and supplying\r\n    the same ```translation```, ```rotation```, and ```force_local_oriented```\r\n    parameters as the ```get_motor_vels``` method:\r\n    ```python\r\n    drivetrain.get_motor_vels_scaled(translation, rotation, force_local_oriented=False)\r\n    ```\r\n\r\n## License\r\nSimpleDrivetrain is distributed under the terms of the [MIT License](https://choosealicense.com/licenses/mit/#).\r\n\r\n\r\n",
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