ftservo-python-sdk 2.0.0__py3-none-any.whl

ftservo_python_sdk-2.0.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: ftservo-python-sdk
+Version: 2.0.0
+Summary: This is source code from official feetech repository
+Home-page: https://github.com/ftservo/FTServo_Python
+Author: ftservo
+Author-email: 117692731@qq.com
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Topic :: System :: Hardware :: Universal Serial Bus (USB) :: Communications Device Class (CDC)
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyserial
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: license-file
+Dynamic: requires-dist
+Dynamic: summary
+
+This is source code from [official feetech repository](https://github.com/ftservo/FTServo_Python).
+
+## Structure
+
+```
+root dirrectory
+     |---scservo_sdk 
+     |---sms_sts
+     |---scscl
+```
+The 'scscl' and 'sms_sts' directories contain examples of using the library.
+
+The source code of the library is located in the `scservo_sdk` directory.
+
+The 'scsservo_sdk' directory contains the original archive with the source code of the library from the developer.
+
+## Usage
+
+Tested on Linux Raspbian GNU/Linux 9.13 (stretch).
+Python version Python 3.5.3
+
+### Method 1. Clone repositry
+
+```
+$ cd /usr/src/
+$ sudo git clone https://github.com/ftservo/FTServo_Python.git
+$ sudo chown -R pi FTServo_Python
+$ cd FTServo_Python/sms_sts
+$ python3 ping.py
+Succeeded to open the port
+Succeeded to change the baudrate
+[ID:001] ping Succeeded. SCServo model number : 1540
+```
+
+### Method 2. Install pip package
+
+Copy the sample file to any location convenient for you. In the example I use '/home/pi/FeetechTestFiles'
+
+```
+$ pip install ftservo-python-sdk
+$ cd /home/pi/FeetechTestFiles/sms_sts
+$ python3 ping.py
+Succeeded to open the port
+Succeeded to change the baudrate
+[ID:001] ping Succeeded. SCServo model number : 1540
+```

ftservo_python_sdk-2.0.0.dist-info/RECORD

@@ -0,0 +1,13 @@
+ftservo_python_sdk-2.0.0.dist-info/licenses/LICENSE,sha256=7kzXw-DouYF2VTN5ykG5z9eOxoSn1I9ITJ0NFVsFvy8,1083
+scservo_sdk/__init__.py,sha256=GP8TUZ1FsNWwr9fmn-UNr-yvAt_GlBjzwkWJAk2S2BY,205
+scservo_sdk/group_sync_read.py,sha256=RaZs3Z__O1qsKaX-_kmwbInuF5wxOcznWdtiMEVetCI,5350
+scservo_sdk/group_sync_write.py,sha256=Epps3ImNuvkRVTI-PePE0sTR8LmRtpJe_JiFLuOqB1E,1982
+scservo_sdk/port_handler.py,sha256=sK1SZAYZWaAlxukAGfvC8tpSuWgpvkXJnuEEupVkGGU,3185
+scservo_sdk/protocol_packet_handler.py,sha256=YKEQvAoZj6_NH9MAe-hcCtCUfyoCL4vMGFfxSQLYFHU,18287
+scservo_sdk/scscl.py,sha256=N3vioVecwBZ3k4mI5KFKBxkUjFFIeylQxYa8sfzigGw,3887
+scservo_sdk/scservo_def.py,sha256=PnKCh4I_12okAAHTA8pbmzpQZlogXetf5PfIDiGgSbE,734
+scservo_sdk/sms_sts.py,sha256=YUq9QuMx9RDp0EhukL2vXs4FPiJ_YOGfYY5wK2W0gQE,4062
+ftservo_python_sdk-2.0.0.dist-info/METADATA,sha256=SZAw-ea2RuN_Nf09_5nDBG3c3a517iFB8gHk4s-KVpA,2043
+ftservo_python_sdk-2.0.0.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
+ftservo_python_sdk-2.0.0.dist-info/top_level.txt,sha256=aH94_9kpy8x3zbQCNQNK8uAeJ_PtMM2r3S2tmEShADE,12
+ftservo_python_sdk-2.0.0.dist-info/RECORD,,

ftservo_python_sdk-2.0.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: setuptools (78.1.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

ftservo_python_sdk-2.0.0.dist-info/licenses/LICENSE

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+MIT License
+
+Copyright (c) 2024 ftservo
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

ftservo_python_sdk-2.0.0.dist-info/top_level.txt

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+scservo_sdk

scservo_sdk/__init__.py

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+#!/usr/bin/env python
+
+from .port_handler import *
+from .protocol_packet_handler import *
+from .group_sync_write import *
+from .group_sync_read import *
+from .sms_sts import *
+from .scscl import *

scservo_sdk/group_sync_read.py

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+#!/usr/bin/env python
+
+from .scservo_def import *
+
+class GroupSyncRead:
+    def __init__(self, ph, start_address, data_length):
+        self.ph = ph
+        self.start_address = start_address
+        self.data_length = data_length
+
+        self.last_result = False
+        self.is_param_changed = False
+        self.param = []
+        self.data_dict = {}
+
+        self.clearParam()
+
+    def makeParam(self):
+        if not self.data_dict:  # len(self.data_dict.keys()) == 0:
+            return
+
+        self.param = []
+
+        for scs_id in self.data_dict:
+            self.param.append(scs_id)
+
+    def addParam(self, scs_id):
+        if scs_id in self.data_dict:  # scs_id already exist
+            return False
+
+        self.data_dict[scs_id] = []  # [0] * self.data_length
+
+        self.is_param_changed = True
+        return True
+
+    def removeParam(self, scs_id):
+        if scs_id not in self.data_dict:  # NOT exist
+            return
+
+        del self.data_dict[scs_id]
+
+        self.is_param_changed = True
+
+    def clearParam(self):
+        self.data_dict.clear()
+
+    def txPacket(self):
+        if len(self.data_dict.keys()) == 0:
+
+            return COMM_NOT_AVAILABLE
+
+        if self.is_param_changed is True or not self.param:
+            self.makeParam()
+
+        return self.ph.syncReadTx(self.start_address, self.data_length, self.param, len(self.data_dict.keys()))
+
+    def rxPacket(self):
+        self.last_result = True
+
+        result = COMM_RX_FAIL
+
+        if len(self.data_dict.keys()) == 0:
+            return COMM_NOT_AVAILABLE
+
+        result, rxpacket = self.ph.syncReadRx(self.data_length, len(self.data_dict.keys()))
+        # print(rxpacket)
+        if len(rxpacket) >= (self.data_length+6):
+            for scs_id in self.data_dict:
+                self.data_dict[scs_id], result = self.readRx(rxpacket, scs_id, self.data_length)
+                if result != COMM_SUCCESS:
+                    self.last_result = False
+                # print(scs_id)
+        else:
+            self.last_result = False
+        # print(self.last_result)
+        return result
+
+    def txRxPacket(self):
+        result = self.txPacket()
+        if result != COMM_SUCCESS:
+            return result
+
+        return self.rxPacket()
+
+    def readRx(self, rxpacket, scs_id, data_length):
+        # print(scs_id)
+        # print(rxpacket)
+        data = []
+        rx_length = len(rxpacket)
+        # print(rx_length)
+        rx_index = 0;
+        while (rx_index+6+data_length) <= rx_length:
+            headpacket = [0x00, 0x00, 0x00]
+            while rx_index < rx_length:
+                headpacket[2] = headpacket[1];
+                headpacket[1] = headpacket[0];
+                headpacket[0] = rxpacket[rx_index];
+                rx_index += 1
+                if (headpacket[2] == 0xFF) and (headpacket[1] == 0xFF) and headpacket[0] == scs_id:
+                    # print(rx_index)
+                    break
+            # print(rx_index+3+data_length)
+            if (rx_index+3+data_length) > rx_length:
+                break;
+            if rxpacket[rx_index] != (data_length+2):
+                rx_index += 1
+                # print(rx_index)
+                continue
+            rx_index += 1
+            Error = rxpacket[rx_index]
+            rx_index += 1
+            calSum = scs_id + (data_length+2) + Error
+            data = [Error]
+            data.extend(rxpacket[rx_index : rx_index+data_length])
+            for i in range(0, data_length):
+                calSum += rxpacket[rx_index]
+                rx_index += 1
+            calSum = ~calSum & 0xFF
+            # print(calSum)
+            if calSum != rxpacket[rx_index]:
+                return None, COMM_RX_CORRUPT
+            return data, COMM_SUCCESS 
+        # print(rx_index)
+        return None, COMM_RX_CORRUPT
+
+    def isAvailable(self, scs_id, address, data_length):
+        #if self.last_result is False or scs_id not in self.data_dict:
+        if scs_id not in self.data_dict:
+            return False, 0
+
+        if (address < self.start_address) or (self.start_address + self.data_length - data_length < address):
+            return False, 0
+        if not self.data_dict[scs_id]:
+            return False, 0
+        if len(self.data_dict[scs_id])<(data_length+1):
+            return False, 0
+        return True, self.data_dict[scs_id][0]
+
+    def getData(self, scs_id, address, data_length):
+        if data_length == 1:
+            return self.data_dict[scs_id][address-self.start_address+1]
+        elif data_length == 2:
+            return self.ph.scs_makeword(self.data_dict[scs_id][address-self.start_address+1],
+                                self.data_dict[scs_id][address-self.start_address+2])
+        elif data_length == 4:
+            return self.ph.scs_makedword(self.ph.scs_makeword(self.data_dict[scs_id][address-self.start_address+1],
+                                              self.data_dict[scs_id][address-self.start_address+2]),
+                                 self.ph.scs_makeword(self.data_dict[scs_id][address-self.start_address+3],
+                                              self.data_dict[scs_id][address-self.start_address+4]))
+        else:
+            return 0

scservo_sdk/group_sync_write.py

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+#!/usr/bin/env python
+
+from .scservo_def import *
+
+class GroupSyncWrite:
+    def __init__(self, ph, start_address, data_length):
+        self.ph = ph
+        self.start_address = start_address
+        self.data_length = data_length
+
+        self.is_param_changed = False
+        self.param = []
+        self.data_dict = {}
+
+        self.clearParam()
+
+    def makeParam(self):
+        if not self.data_dict:
+            return
+
+        self.param = []
+
+        for scs_id in self.data_dict:
+            if not self.data_dict[scs_id]:
+                return
+
+            self.param.append(scs_id)
+            self.param.extend(self.data_dict[scs_id])
+
+    def addParam(self, scs_id, data):
+        if scs_id in self.data_dict:  # scs_id already exist
+            return False
+
+        if len(data) > self.data_length:  # input data is longer than set
+            return False
+
+        self.data_dict[scs_id] = data
+
+        self.is_param_changed = True
+        return True
+
+    def removeParam(self, scs_id):
+        if scs_id not in self.data_dict:  # NOT exist
+            return
+
+        del self.data_dict[scs_id]
+
+        self.is_param_changed = True
+
+    def changeParam(self, scs_id, data):
+        if scs_id not in self.data_dict:  # NOT exist
+            return False
+
+        if len(data) > self.data_length:  # input data is longer than set
+            return False
+
+        self.data_dict[scs_id] = data
+
+        self.is_param_changed = True
+        return True
+
+    def clearParam(self):
+        self.data_dict.clear()
+
+    def txPacket(self):
+        if len(self.data_dict.keys()) == 0:
+            return COMM_NOT_AVAILABLE
+
+        if self.is_param_changed is True or not self.param:
+            self.makeParam()
+
+        return self.ph.syncWriteTxOnly(self.start_address, self.data_length, self.param,
+                                       len(self.data_dict.keys()) * (1 + self.data_length))

scservo_sdk/port_handler.py

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+#!/usr/bin/env python
+
+import time
+import serial
+import sys
+import platform
+
+DEFAULT_BAUDRATE = 1000000
+LATENCY_TIMER = 50 
+
+class PortHandler(object):
+    def __init__(self, port_name):
+        self.is_open = False
+        self.baudrate = DEFAULT_BAUDRATE
+        self.packet_start_time = 0.0
+        self.packet_timeout = 0.0
+        self.tx_time_per_byte = 0.0
+
+        self.is_using = False
+        self.port_name = port_name
+        self.ser = None
+
+    def openPort(self):
+        return self.setBaudRate(self.baudrate)
+
+    def closePort(self):
+        self.ser.close()
+        self.is_open = False
+
+    def clearPort(self):
+        self.ser.flush()
+
+    def setPortName(self, port_name):
+        self.port_name = port_name
+
+    def getPortName(self):
+        return self.port_name
+
+    def setBaudRate(self, baudrate):
+        baud = self.getCFlagBaud(baudrate)
+
+        if baud <= 0:
+            # self.setupPort(38400)
+            # self.baudrate = baudrate
+            return False  # TODO: setCustomBaudrate(baudrate)
+        else:
+            self.baudrate = baudrate
+            return self.setupPort(baud)
+
+    def getBaudRate(self):
+        return self.baudrate
+
+    def getBytesAvailable(self):
+        return self.ser.in_waiting
+
+    def readPort(self, length):
+        if (sys.version_info > (3, 0)):
+            return self.ser.read(length)
+        else:
+            return [ord(ch) for ch in self.ser.read(length)]
+
+    def writePort(self, packet):
+        return self.ser.write(packet)
+
+    def setPacketTimeout(self, packet_length):
+        self.packet_start_time = self.getCurrentTime()
+        self.packet_timeout = (self.tx_time_per_byte * packet_length) + (self.tx_time_per_byte * 3.0) + LATENCY_TIMER
+
+    def setPacketTimeoutMillis(self, msec):
+        self.packet_start_time = self.getCurrentTime()
+        self.packet_timeout = msec
+
+    def isPacketTimeout(self):
+        if self.getTimeSinceStart() > self.packet_timeout:
+            self.packet_timeout = 0
+            return True
+
+        return False
+
+    def getCurrentTime(self):
+        return round(time.time() * 1000000000) / 1000000.0
+
+    def getTimeSinceStart(self):
+        time_since = self.getCurrentTime() - self.packet_start_time
+        if time_since < 0.0:
+            self.packet_start_time = self.getCurrentTime()
+
+        return time_since
+
+    def setupPort(self, cflag_baud):
+        if self.is_open:
+            self.closePort()
+
+        self.ser = serial.Serial(
+            port=self.port_name,
+            baudrate=self.baudrate,
+            # parity = serial.PARITY_ODD,
+            # stopbits = serial.STOPBITS_TWO,
+            bytesize=serial.EIGHTBITS,
+            timeout=0
+        )
+
+        self.is_open = True
+
+        self.ser.reset_input_buffer()
+
+        self.tx_time_per_byte = (1000.0 / self.baudrate) * 10.0
+
+        return True
+
+    def getCFlagBaud(self, baudrate):
+        if baudrate in [4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 250000, 500000, 1000000]:
+            return baudrate
+        else:
+            return -1          

scservo_sdk/protocol_packet_handler.py

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+#!/usr/bin/env python
+
+from .scservo_def import *
+
+TXPACKET_MAX_LEN = 250
+RXPACKET_MAX_LEN = 250
+
+# for Protocol Packet
+PKT_HEADER0 = 0
+PKT_HEADER1 = 1
+PKT_ID = 2
+PKT_LENGTH = 3
+PKT_INSTRUCTION = 4
+PKT_ERROR = 4
+PKT_PARAMETER0 = 5
+
+# Protocol Error bit
+ERRBIT_VOLTAGE = 1
+ERRBIT_ANGLE = 2
+ERRBIT_OVERHEAT = 4
+ERRBIT_OVERELE = 8
+ERRBIT_OVERLOAD = 32
+
+
+class protocol_packet_handler(object):
+    def __init__(self, portHandler, protocol_end):
+        #self.scs_setend(protocol_end)# SCServo bit end(STS/SMS=0, SCS=1)
+        self.portHandler = portHandler
+        self.scs_end = protocol_end
+
+    def scs_getend(self):
+        return self.scs_end
+
+    def scs_setend(self, e):
+        self.scs_end = e
+
+    def scs_tohost(self, a, b):
+        if (a & (1<<b)):
+            return -(a & ~(1<<b))
+        else:
+            return a
+
+    def scs_toscs(self, a, b):
+        if (a<0):
+            return (-a | (1<<b))
+        else:
+            return a
+
+    def scs_makeword(self, a, b):
+        if self.scs_end==0:
+            return (a & 0xFF) | ((b & 0xFF) << 8)
+        else:
+            return (b & 0xFF) | ((a & 0xFF) << 8)
+
+    def scs_makedword(self, a, b):
+        return (a & 0xFFFF) | (b & 0xFFFF) << 16
+
+    def scs_loword(self, l):
+        return l & 0xFFFF
+
+    def scs_hiword(self, h):
+        return (h >> 16) & 0xFFFF
+
+    def scs_lobyte(self, w):
+        if self.scs_end==0:
+            return w & 0xFF
+        else:
+            return (w >> 8) & 0xFF
+
+    def scs_hibyte(self, w):
+        if self.scs_end==0:
+            return (w >> 8) & 0xFF
+        else:
+            return w & 0xFF
+        
+    def getProtocolVersion(self):
+        return 1.0
+
+    def getTxRxResult(self, result):
+        if result == COMM_SUCCESS:
+            return "[TxRxResult] Communication success!"
+        elif result == COMM_PORT_BUSY:
+            return "[TxRxResult] Port is in use!"
+        elif result == COMM_TX_FAIL:
+            return "[TxRxResult] Failed transmit instruction packet!"
+        elif result == COMM_RX_FAIL:
+            return "[TxRxResult] Failed get status packet from device!"
+        elif result == COMM_TX_ERROR:
+            return "[TxRxResult] Incorrect instruction packet!"
+        elif result == COMM_RX_WAITING:
+            return "[TxRxResult] Now receiving status packet!"
+        elif result == COMM_RX_TIMEOUT:
+            return "[TxRxResult] There is no status packet!"
+        elif result == COMM_RX_CORRUPT:
+            return "[TxRxResult] Incorrect status packet!"
+        elif result == COMM_NOT_AVAILABLE:
+            return "[TxRxResult] Protocol does not support this function!"
+        else:
+            return ""
+
+    def getRxPacketError(self, error):
+        if error & ERRBIT_VOLTAGE:
+            return "[ServoStatus] Input voltage error!"
+
+        if error & ERRBIT_ANGLE:
+            return "[ServoStatus] Angle sen error!"
+
+        if error & ERRBIT_OVERHEAT:
+            return "[ServoStatus] Overheat error!"
+
+        if error & ERRBIT_OVERELE:
+            return "[ServoStatus] OverEle error!"
+        
+        if error & ERRBIT_OVERLOAD:
+            return "[ServoStatus] Overload error!"
+
+        return ""
+
+    def txPacket(self, txpacket):
+        checksum = 0
+        total_packet_length = txpacket[PKT_LENGTH] + 4  # 4: HEADER0 HEADER1 ID LENGTH
+
+        if self.portHandler.is_using:
+            return COMM_PORT_BUSY
+        self.portHandler.is_using = True
+
+        # check max packet length
+        if total_packet_length > TXPACKET_MAX_LEN:
+            self.portHandler.is_using = False
+            return COMM_TX_ERROR
+
+        # make packet header
+        txpacket[PKT_HEADER0] = 0xFF
+        txpacket[PKT_HEADER1] = 0xFF
+
+        # add a checksum to the packet
+        for idx in range(2, total_packet_length - 1):  # except header, checksum
+            checksum += txpacket[idx]
+
+        txpacket[total_packet_length - 1] = ~checksum & 0xFF
+
+        #print "[TxPacket] %r" % txpacket
+
+        # tx packet
+        self.portHandler.clearPort()
+        written_packet_length = self.portHandler.writePort(txpacket)
+        if total_packet_length != written_packet_length:
+            self.portHandler.is_using = False
+            return COMM_TX_FAIL
+
+        return COMM_SUCCESS
+
+    def rxPacket(self):
+        rxpacket = []
+
+        result = COMM_TX_FAIL
+        checksum = 0
+        rx_length = 0
+        wait_length = 6  # minimum length (HEADER0 HEADER1 ID LENGTH ERROR CHKSUM)
+
+        while True:
+            rxpacket.extend(self.portHandler.readPort(wait_length - rx_length))
+            rx_length = len(rxpacket)
+            if rx_length >= wait_length:
+                # find packet header
+                for idx in range(0, (rx_length - 1)):
+                    if (rxpacket[idx] == 0xFF) and (rxpacket[idx + 1] == 0xFF):
+                        break
+
+                if idx == 0:  # found at the beginning of the packet
+                    if (rxpacket[PKT_ID] > 0xFD) or (rxpacket[PKT_LENGTH] > RXPACKET_MAX_LEN) or (
+                            rxpacket[PKT_ERROR] > 0x7F):
+                        # unavailable ID or unavailable Length or unavailable Error
+                        # remove the first byte in the packet
+                        del rxpacket[0]
+                        rx_length -= 1
+                        continue
+
+                    # re-calculate the exact length of the rx packet
+                    if wait_length != (rxpacket[PKT_LENGTH] + PKT_LENGTH + 1):
+                        wait_length = rxpacket[PKT_LENGTH] + PKT_LENGTH + 1
+                        continue
+
+                    if rx_length < wait_length:
+                        # check timeout
+                        if self.portHandler.isPacketTimeout():
+                            if rx_length == 0:
+                                result = COMM_RX_TIMEOUT
+                            else:
+                                result = COMM_RX_CORRUPT
+                            break
+                        else:
+                            continue
+
+                    # calculate checksum
+                    for i in range(2, wait_length - 1):  # except header, checksum
+                        checksum += rxpacket[i]
+                    checksum = ~checksum & 0xFF
+
+                    # verify checksum
+                    if rxpacket[wait_length - 1] == checksum:
+                        result = COMM_SUCCESS
+                    else:
+                        result = COMM_RX_CORRUPT
+                    break
+
+                else:
+                    # remove unnecessary packets
+                    del rxpacket[0: idx]
+                    rx_length -= idx
+
+            else:
+                # check timeout
+                if self.portHandler.isPacketTimeout():
+                    if rx_length == 0:
+                        result = COMM_RX_TIMEOUT
+                    else:
+                        result = COMM_RX_CORRUPT
+                    break
+
+        self.portHandler.is_using = False
+        return rxpacket, result
+
+    def txRxPacket(self, txpacket):
+        rxpacket = None
+        error = 0
+
+        # tx packet
+        result = self.txPacket(txpacket)
+        if result != COMM_SUCCESS:
+            return rxpacket, result, error
+
+        # (ID == Broadcast ID) == no need to wait for status packet or not available
+        if (txpacket[PKT_ID] == BROADCAST_ID):
+            self.portHandler.is_using = False
+            return rxpacket, result, error
+
+        # set packet timeout
+        if txpacket[PKT_INSTRUCTION] == INST_READ:
+            self.portHandler.setPacketTimeout(txpacket[PKT_PARAMETER0 + 1] + 6)
+        else:
+            self.portHandler.setPacketTimeout(6)  # HEADER0 HEADER1 ID LENGTH ERROR CHECKSUM
+
+        # rx packet
+        while True:
+            rxpacket, result = self.rxPacket()
+            if result != COMM_SUCCESS or txpacket[PKT_ID] == rxpacket[PKT_ID]:
+                break
+
+        if result == COMM_SUCCESS and txpacket[PKT_ID] == rxpacket[PKT_ID]:
+            error = rxpacket[PKT_ERROR]
+
+        return rxpacket, result, error
+
+    def ping(self, scs_id):
+        model_number = 0
+        error = 0
+
+        txpacket = [0] * 6
+
+        if scs_id > BROADCAST_ID:
+            return model_number, COMM_NOT_AVAILABLE, error
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = 2
+        txpacket[PKT_INSTRUCTION] = INST_PING
+
+        rxpacket, result, error = self.txRxPacket(txpacket)
+
+        if result == COMM_SUCCESS:
+            data_read, result, error = self.readTxRx(scs_id, 3, 2)  # Address 3 : Model Number
+            if result == COMM_SUCCESS:
+                model_number = self.scs_makeword(data_read[0], data_read[1])
+
+        return model_number, result, error
+
+    def action(self, scs_id):
+        txpacket = [0] * 6
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = 2
+        txpacket[PKT_INSTRUCTION] = INST_ACTION
+
+        _, result, _ = self.txRxPacket(txpacket)
+
+        return result
+
+    def readTx(self, scs_id, address, length):
+
+        txpacket = [0] * 8
+
+        if scs_id >= BROADCAST_ID:
+            return COMM_NOT_AVAILABLE
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = 4
+        txpacket[PKT_INSTRUCTION] = INST_READ
+        txpacket[PKT_PARAMETER0 + 0] = address
+        txpacket[PKT_PARAMETER0 + 1] = length
+
+        result = self.txPacket(txpacket)
+
+        # set packet timeout
+        if result == COMM_SUCCESS:
+            self.portHandler.setPacketTimeout(length + 6)
+
+        return result
+
+    def readRx(self, scs_id, length):
+        result = COMM_TX_FAIL
+        error = 0
+
+        rxpacket = None
+        data = []
+
+        while True:
+            rxpacket, result = self.rxPacket()
+
+            if result != COMM_SUCCESS or rxpacket[PKT_ID] == scs_id:
+                break
+
+        if result == COMM_SUCCESS and rxpacket[PKT_ID] == scs_id:
+            error = rxpacket[PKT_ERROR]
+
+            data.extend(rxpacket[PKT_PARAMETER0 : PKT_PARAMETER0+length])
+
+        return data, result, error
+
+    def readTxRx(self, scs_id, address, length):
+        txpacket = [0] * 8
+        data = []
+
+        if scs_id >= BROADCAST_ID:
+            return data, COMM_NOT_AVAILABLE, 0
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = 4
+        txpacket[PKT_INSTRUCTION] = INST_READ
+        txpacket[PKT_PARAMETER0 + 0] = address
+        txpacket[PKT_PARAMETER0 + 1] = length
+
+        rxpacket, result, error = self.txRxPacket(txpacket)
+        if result == COMM_SUCCESS:
+            error = rxpacket[PKT_ERROR]
+
+            data.extend(rxpacket[PKT_PARAMETER0 : PKT_PARAMETER0+length])
+
+        return data, result, error
+
+    def read1ByteTx(self, scs_id, address):
+        return self.readTx(scs_id, address, 1)
+
+    def read1ByteRx(self, scs_id):
+        data, result, error = self.readRx(scs_id, 1)
+        data_read = data[0] if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def read1ByteTxRx(self, scs_id, address):
+        data, result, error = self.readTxRx(scs_id, address, 1)
+        data_read = data[0] if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def read2ByteTx(self, scs_id, address):
+        return self.readTx(scs_id, address, 2)
+
+    def read2ByteRx(self, scs_id):
+        data, result, error = self.readRx(scs_id, 2)
+        data_read = self.scs_makeword(data[0], data[1]) if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def read2ByteTxRx(self, scs_id, address):
+        data, result, error = self.readTxRx(scs_id, address, 2)
+        data_read = self.scs_makeword(data[0], data[1]) if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def read4ByteTx(self, scs_id, address):
+        return self.readTx(scs_id, address, 4)
+
+    def read4ByteRx(self, scs_id):
+        data, result, error = self.readRx(scs_id, 4)
+        data_read = self.scs_makedword(self.scs_makeword(data[0], data[1]),
+                                  self.scs_makeword(data[2], data[3])) if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def read4ByteTxRx(self, scs_id, address):
+        data, result, error = self.readTxRx(scs_id, address, 4)
+        data_read = self.scs_makedword(self.scs_makeword(data[0], data[1]),
+                                  self.scs_makeword(data[2], data[3])) if (result == COMM_SUCCESS) else 0
+        return data_read, result, error
+
+    def writeTxOnly(self, scs_id, address, length, data):
+        txpacket = [0] * (length + 7)
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = length + 3
+        txpacket[PKT_INSTRUCTION] = INST_WRITE
+        txpacket[PKT_PARAMETER0] = address
+
+        txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
+
+        result = self.txPacket(txpacket)
+        self.portHandler.is_using = False
+
+        return result
+
+    def writeTxRx(self, scs_id, address, length, data):
+        txpacket = [0] * (length + 7)
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = length + 3
+        txpacket[PKT_INSTRUCTION] = INST_WRITE
+        txpacket[PKT_PARAMETER0] = address
+
+        txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
+        rxpacket, result, error = self.txRxPacket(txpacket)
+
+        return result, error
+
+    def write1ByteTxOnly(self, scs_id, address, data):
+        data_write = [data]
+        return self.writeTxOnly(scs_id, address, 1, data_write)
+
+    def write1ByteTxRx(self, scs_id, address, data):
+        data_write = [data]
+        return self.writeTxRx(scs_id, address, 1, data_write)
+
+    def write2ByteTxOnly(self, scs_id, address, data):
+        data_write = [self.scs_lobyte(data), self.scs_hibyte(data)]
+        return self.writeTxOnly(scs_id, address, 2, data_write)
+
+    def write2ByteTxRx(self, scs_id, address, data):
+        data_write = [self.scs_lobyte(data), self.scs_hibyte(data)]
+        return self.writeTxRx(scs_id, address, 2, data_write)
+
+    def write4ByteTxOnly(self, scs_id, address, data):
+        data_write = [self.scs_lobyte(self.scs_loword(data)),
+                      self.scs_hibyte(self.scs_loword(data)),
+                      self.scs_lobyte(self.scs_hiword(data)),
+                      self.scs_hibyte(self.scs_hiword(data))]
+        return self.writeTxOnly(scs_id, address, 4, data_write)
+
+    def write4ByteTxRx(self, scs_id, address, data):
+        data_write = [self.scs_lobyte(self.scs_loword(data)),
+                      self.scs_hibyte(self.scs_loword(data)),
+                      self.scs_lobyte(self.scs_hiword(data)),
+                      self.scs_hibyte(self.scs_hiword(data))]
+        return self.writeTxRx(scs_id, address, 4, data_write)
+
+    def regWriteTxOnly(self, scs_id, address, length, data):
+        txpacket = [0] * (length + 7)
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = length + 3
+        txpacket[PKT_INSTRUCTION] = INST_REG_WRITE
+        txpacket[PKT_PARAMETER0] = address
+
+        txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
+
+        result = self.txPacket(txpacket)
+        self.portHandler.is_using = False
+
+        return result
+
+    def regWriteTxRx(self, scs_id, address, length, data):
+        txpacket = [0] * (length + 7)
+
+        txpacket[PKT_ID] = scs_id
+        txpacket[PKT_LENGTH] = length + 3
+        txpacket[PKT_INSTRUCTION] = INST_REG_WRITE
+        txpacket[PKT_PARAMETER0] = address
+
+        txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
+
+        _, result, error = self.txRxPacket(txpacket)
+
+        return result, error
+
+    def syncReadTx(self, start_address, data_length, param, param_length):
+        txpacket = [0] * (param_length + 8)
+        # 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN CHKSUM
+
+        txpacket[PKT_ID] = BROADCAST_ID
+        txpacket[PKT_LENGTH] = param_length + 4  # 7: INST START_ADDR DATA_LEN CHKSUM
+        txpacket[PKT_INSTRUCTION] = INST_SYNC_READ
+        txpacket[PKT_PARAMETER0 + 0] = start_address
+        txpacket[PKT_PARAMETER0 + 1] = data_length
+
+        txpacket[PKT_PARAMETER0 + 2: PKT_PARAMETER0 + 2 + param_length] = param[0: param_length]
+
+        # print(txpacket)
+        result = self.txPacket(txpacket)
+        return result
+
+    def syncReadRx(self, data_length, param_length):
+        wait_length = (6 + data_length) * param_length
+        self.portHandler.setPacketTimeout(wait_length)
+        rxpacket = []
+        rx_length = 0
+        while True:
+            rxpacket.extend(self.portHandler.readPort(wait_length - rx_length))
+            rx_length = len(rxpacket)
+            if rx_length >= wait_length:
+                result = COMM_SUCCESS
+                break
+            else:
+                # check timeout
+                if self.portHandler.isPacketTimeout():
+                    if rx_length == 0:
+                        result = COMM_RX_TIMEOUT
+                    else:
+                        result = COMM_RX_CORRUPT
+                    break
+        self.portHandler.is_using = False
+        return result, rxpacket
+
+    def syncWriteTxOnly(self, start_address, data_length, param, param_length):
+        txpacket = [0] * (param_length + 8)
+        # 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
+
+        txpacket[PKT_ID] = BROADCAST_ID
+        txpacket[PKT_LENGTH] = param_length + 4  # 4: INST START_ADDR DATA_LEN ... CHKSUM
+        txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE
+        txpacket[PKT_PARAMETER0 + 0] = start_address
+        txpacket[PKT_PARAMETER0 + 1] = data_length
+
+        txpacket[PKT_PARAMETER0 + 2: PKT_PARAMETER0 + 2 + param_length] = param[0: param_length]
+
+        _, result, _ = self.txRxPacket(txpacket)
+
+        return result

scservo_sdk/scscl.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env python
+
+from .scservo_def import *
+from .protocol_packet_handler import *
+from .group_sync_write import *
+
+#波特率定义
+SCSCL_1M = 0
+SCSCL_0_5M = 1
+SCSCL_250K = 2
+SCSCL_128K = 3
+SCSCL_115200 = 4
+SCSCL_76800 = 5
+SCSCL_57600 = 6
+SCSCL_38400 = 7
+
+#内存表定义
+#-------EPROM(只读)--------
+SCSCL_MODEL_L = 3
+SCSCL_MODEL_H = 4
+
+#-------EPROM(读写)--------
+scs_id = 5
+SCSCL_BAUD_RATE = 6
+SCSCL_MIN_ANGLE_LIMIT_L = 9
+SCSCL_MIN_ANGLE_LIMIT_H = 10
+SCSCL_MAX_ANGLE_LIMIT_L = 11
+SCSCL_MAX_ANGLE_LIMIT_H = 12
+SCSCL_CW_DEAD = 26
+SCSCL_CCW_DEAD = 27
+
+#-------SRAM(读写)--------
+SCSCL_TORQUE_ENABLE = 40
+SCSCL_GOAL_POSITION_L = 42
+SCSCL_GOAL_POSITION_H = 43
+SCSCL_GOAL_TIME_L = 44
+SCSCL_GOAL_TIME_H = 45
+SCSCL_GOAL_SPEED_L = 46
+SCSCL_GOAL_SPEED_H = 47
+SCSCL_LOCK = 48
+
+#-------SRAM(只读)--------
+SCSCL_PRESENT_POSITION_L  = 56
+SCSCL_PRESENT_POSITION_H = 57
+SCSCL_PRESENT_SPEED_L = 58
+SCSCL_PRESENT_SPEED_H = 59
+SCSCL_PRESENT_LOAD_L = 60
+SCSCL_PRESENT_LOAD_H = 61
+SCSCL_PRESENT_VOLTAGE = 62
+SCSCL_PRESENT_TEMPERATURE = 63
+SCSCL_MOVING = 66
+SCSCL_PRESENT_CURRENT_L = 69
+SCSCL_PRESENT_CURRENT_H = 70
+
+class scscl(protocol_packet_handler):
+    def __init__(self, portHandler):
+        protocol_packet_handler.__init__(self, portHandler, 1)
+        self.groupSyncWrite = GroupSyncWrite(self, SCSCL_GOAL_POSITION_L, 6)
+
+    def WritePos(self, scs_id, position, time, speed):
+        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.writeTxRx(scs_id, SCSCL_GOAL_POSITION_L, len(txpacket), txpacket)
+
+    def ReadPos(self, scs_id):
+        scs_present_position, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SCSCL_PRESENT_POSITION_L)
+        return scs_present_position, scs_comm_result, scs_error
+
+    def ReadSpeed(self, scs_id):
+        scs_present_speed, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SCSCL_PRESENT_SPEED_L)
+        return self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error
+
+    def ReadPosSpeed(self, scs_id):
+        scs_present_position_speed, scs_comm_result, scs_error = self.read4ByteTxRx(scs_id, SCSCL_PRESENT_POSITION_L)
+        scs_present_position = self.scs_loword(scs_present_position_speed)
+        scs_present_speed = self.scs_hiword(scs_present_position_speed)
+        return scs_present_position, self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error
+
+    def ReadMoving(self, scs_id):
+        moving, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SCSCL_MOVING)
+        return moving, scs_comm_result, scs_error
+
+    def SyncWritePos(self, scs_id, position, time, speed):
+        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.groupSyncWrite.addParam(scs_id, txpacket)
+
+    def RegWritePos(self, scs_id, position, time, speed):
+        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.regWriteTxRx(scs_id, SCSCL_GOAL_POSITION_L, len(txpacket), txpacket)
+
+    def RegAction(self):
+        return self.action(BROADCAST_ID)
+
+    def PWMMode(self, scs_id):
+        txpacket = [0, 0, 0, 0]
+        return self.writeTxRx(scs_id, SCSCL_MIN_ANGLE_LIMIT_L, len(txpacket), txpacket)
+
+    def WritePWM(self, scs_id, time):
+        return self.write2ByteTxRx(scs_id, SCSCL_GOAL_TIME_L, self.scs_toscs(time, 10))
+
+    def LockEprom(self, scs_id):
+        return self.write1ByteTxRx(scs_id, SCSCL_LOCK, 1)
+
+    def unLockEprom(self, scs_id):
+        return self.write1ByteTxRx(scs_id, SCSCL_LOCK, 0)

scservo_sdk/scservo_def.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+BROADCAST_ID = 0xFE  # 254
+MAX_ID = 0xFC  # 252
+SCS_END = 0
+
+# Instruction for SCS Protocol
+INST_PING = 1
+INST_READ = 2
+INST_WRITE = 3
+INST_REG_WRITE = 4
+INST_ACTION = 5
+INST_SYNC_WRITE = 131  # 0x83
+INST_SYNC_READ = 130  # 0x82
+
+# Communication Result
+COMM_SUCCESS = 0  # tx or rx packet communication success
+COMM_PORT_BUSY = -1  # Port is busy (in use)
+COMM_TX_FAIL = -2  # Failed transmit instruction packet
+COMM_RX_FAIL = -3  # Failed get status packet
+COMM_TX_ERROR = -4  # Incorrect instruction packet
+COMM_RX_WAITING = -5  # Now recieving status packet
+COMM_RX_TIMEOUT = -6  # There is no status packet
+COMM_RX_CORRUPT = -7  # Incorrect status packet
+COMM_NOT_AVAILABLE = -9  #

scservo_sdk/sms_sts.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+from .scservo_def import *
+from .protocol_packet_handler import *
+from .group_sync_read import *
+from .group_sync_write import *
+
+#波特率定义
+SMS_STS_1M = 0
+SMS_STS_0_5M = 1
+SMS_STS_250K = 2
+SMS_STS_128K = 3
+SMS_STS_115200 = 4
+SMS_STS_76800 = 5
+SMS_STS_57600 = 6
+SMS_STS_38400 = 7
+
+#内存表定义
+#-------EPROM(只读)--------
+SMS_STS_MODEL_L = 3
+SMS_STS_MODEL_H = 4
+
+#-------EPROM(读写)--------
+SMS_STS_ID = 5
+SMS_STS_BAUD_RATE = 6
+SMS_STS_MIN_ANGLE_LIMIT_L = 9
+SMS_STS_MIN_ANGLE_LIMIT_H = 10
+SMS_STS_MAX_ANGLE_LIMIT_L = 11
+SMS_STS_MAX_ANGLE_LIMIT_H = 12
+SMS_STS_CW_DEAD = 26
+SMS_STS_CCW_DEAD = 27
+SMS_STS_OFS_L = 31
+SMS_STS_OFS_H = 32
+SMS_STS_MODE = 33
+
+#-------SRAM(读写)--------
+SMS_STS_TORQUE_ENABLE = 40
+SMS_STS_ACC = 41
+SMS_STS_GOAL_POSITION_L = 42
+SMS_STS_GOAL_POSITION_H = 43
+SMS_STS_GOAL_TIME_L = 44
+SMS_STS_GOAL_TIME_H = 45
+SMS_STS_GOAL_SPEED_L = 46
+SMS_STS_GOAL_SPEED_H = 47
+SMS_STS_LOCK = 55
+
+#-------SRAM(只读)--------
+SMS_STS_PRESENT_POSITION_L = 56
+SMS_STS_PRESENT_POSITION_H = 57
+SMS_STS_PRESENT_SPEED_L = 58
+SMS_STS_PRESENT_SPEED_H = 59
+SMS_STS_PRESENT_LOAD_L = 60
+SMS_STS_PRESENT_LOAD_H = 61
+SMS_STS_PRESENT_VOLTAGE = 62
+SMS_STS_PRESENT_TEMPERATURE = 63
+SMS_STS_MOVING = 66
+SMS_STS_PRESENT_CURRENT_L = 69
+SMS_STS_PRESENT_CURRENT_H = 70
+
+class sms_sts(protocol_packet_handler):
+    def __init__(self, portHandler):
+        protocol_packet_handler.__init__(self, portHandler, 0)
+        self.groupSyncWrite = GroupSyncWrite(self, SMS_STS_ACC, 7)
+
+    def WritePosEx(self, scs_id, position, speed, acc):
+        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.writeTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)
+
+    def ReadPos(self, scs_id):
+        scs_present_position, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_PRESENT_POSITION_L)
+        return self.scs_tohost(scs_present_position, 15), scs_comm_result, scs_error
+
+    def ReadSpeed(self, scs_id):
+        scs_present_speed, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_PRESENT_SPEED_L)
+        return self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error
+
+    def ReadPosSpeed(self, scs_id):
+        scs_present_position_speed, scs_comm_result, scs_error = self.read4ByteTxRx(scs_id, SMS_STS_PRESENT_POSITION_L)
+        scs_present_position = self.scs_loword(scs_present_position_speed)
+        scs_present_speed = self.scs_hiword(scs_present_position_speed)
+        return self.scs_tohost(scs_present_position, 15), self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error
+
+    def ReadMoving(self, scs_id):
+        moving, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SMS_STS_MOVING)
+        return moving, scs_comm_result, scs_error
+
+    def SyncWritePosEx(self, scs_id, position, speed, acc):
+        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.groupSyncWrite.addParam(scs_id, txpacket)
+
+    def RegWritePosEx(self, scs_id, position, speed, acc):
+        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.regWriteTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)
+
+    def RegAction(self):
+        return self.action(BROADCAST_ID)
+
+    def WheelMode(self, scs_id):
+        return self.write1ByteTxRx(scs_id, SMS_STS_MODE, 1)
+
+    def WriteSpec(self, scs_id, speed, acc):
+        speed = self.scs_toscs(speed, 15)
+        txpacket = [acc, 0, 0, 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
+        return self.writeTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)
+
+    def LockEprom(self, scs_id):
+        return self.write1ByteTxRx(scs_id, SMS_STS_LOCK, 1)
+
+    def unLockEprom(self, scs_id):
+        return self.write1ByteTxRx(scs_id, SMS_STS_LOCK, 0)
+