ftservo-python-sdk 2.0.0__tar.gz

ftservo_python_sdk-2.0.0/LICENSE

@@ -0,0 +1,21 @@
+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/MANIFEST.in

@@ -0,0 +1,2 @@
+include sms_sts/*
+include scscl/*

ftservo_python_sdk-2.0.0/PKG-INFO

@@ -0,0 +1,70 @@
+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/README.md

@@ -0,0 +1,46 @@
+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/ftservo_python_sdk.egg-info/PKG-INFO

@@ -0,0 +1,70 @@
+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/ftservo_python_sdk.egg-info/SOURCES.txt

@@ -0,0 +1,32 @@
+LICENSE
+MANIFEST.in
+README.md
+setup.py
+ftservo_python_sdk.egg-info/PKG-INFO
+ftservo_python_sdk.egg-info/SOURCES.txt
+ftservo_python_sdk.egg-info/dependency_links.txt
+ftservo_python_sdk.egg-info/requires.txt
+ftservo_python_sdk.egg-info/top_level.txt
+scscl/ping.py
+scscl/read.py
+scscl/read_write.py
+scscl/reg_write.py
+scscl/sync_write.py
+scscl/wheel.py
+scscl/write.py
+scservo_sdk/__init__.py
+scservo_sdk/group_sync_read.py
+scservo_sdk/group_sync_write.py
+scservo_sdk/port_handler.py
+scservo_sdk/protocol_packet_handler.py
+scservo_sdk/scscl.py
+scservo_sdk/scservo_def.py
+scservo_sdk/sms_sts.py
+sms_sts/ping.py
+sms_sts/read.py
+sms_sts/read_write.py
+sms_sts/reg_write.py
+sms_sts/sync_read.py
+sms_sts/sync_write.py
+sms_sts/wheel.py
+sms_sts/write.py

ftservo_python_sdk-2.0.0/ftservo_python_sdk.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ftservo_python_sdk-2.0.0/ftservo_python_sdk.egg-info/requires.txt

@@ -0,0 +1 @@
+pyserial

ftservo_python_sdk-2.0.0/ftservo_python_sdk.egg-info/top_level.txt

@@ -0,0 +1 @@
+scservo_sdk

ftservo_python_sdk-2.0.0/scscl/ping.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+#
+# *********     Ping Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+
+sys.path.append("..")
+from scservo_sdk import *                   # Uses SCServo SDK library
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0') #ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+# Try to ping the ID:1 FTServo
+# Get SCServo model number
+scs_model_number, scs_comm_result, scs_error = packetHandler.ping(1)
+if scs_comm_result != COMM_SUCCESS:
+    print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+else:
+    print("[ID:%03d] ping Succeeded. SCServo model number : %d" % (1, scs_model_number))
+if scs_error != 0:
+    print("%s" % packetHandler.getRxPacketError(scs_error))
+
+# Close port
+portHandler.closePort()
+

ftservo_python_sdk-2.0.0/scscl/read.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+#
+# *********     Gen Write Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+import time
+
+sys.path.append("..")
+from scservo_sdk import *                      # Uses FTServo SDK library
+
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0')# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+    
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+while 1:
+    # Read SCServo present position
+    scs_present_position, scs_present_speed, scs_comm_result, scs_error = packetHandler.ReadPosSpeed(1)
+    if scs_comm_result != COMM_SUCCESS:
+        print(packetHandler.getTxRxResult(scs_comm_result))
+    else:
+        print("[ID:%03d] PresPos:%d PresSpd:%d" % (1, scs_present_position, scs_present_speed))
+    if scs_error != 0:
+        print(packetHandler.getRxPacketError(scs_error))
+
+    time.sleep(1)
+    
+# Close port
+portHandler.closePort()

ftservo_python_sdk-2.0.0/scscl/read_write.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+#
+# *********     Gen Write Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+import time
+
+sys.path.append("..")
+from scservo_sdk import *                      # Uses FTServo SDK library
+
+
+def read():
+    while 1:
+        # Read the current position of servo(ID1)
+        scs_present_position, scs_present_speed, scs_comm_result, scs_error = packetHandler.ReadPosSpeed(1)
+        if scs_comm_result != COMM_SUCCESS:
+            print(packetHandler.getTxRxResult(scs_comm_result))
+        else:
+            print("[ID:%03d] GoalPos:%d PresPos:%d PresSpd:%d" % (SCS_ID, scs_goal_position[index], scs_present_position, scs_present_speed))
+        if scs_error != 0:
+            print(packetHandler.getRxPacketError(scs_error))
+
+        # Read moving status of servo(ID1)
+        moving, scs_comm_result, scs_error = packetHandler.ReadMoving(1)
+        if scs_comm_result != COMM_SUCCESS:
+            print(packetHandler.getTxRxResult(scs_comm_result))
+
+        if moving==0:
+            break
+    return
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0')# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+    
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+while 1:
+    # Servo (ID1) runs at a maximum speed of V=1500*0.059=88.5rpm until it reaches position P1=1000
+    scs_comm_result, scs_error = packetHandler.WritePos(1, 1000, 0, 1500)
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+    if scs_error != 0:
+        print("%s" % packetHandler.getRxPacketError(scs_error))
+
+    read()# Read the status of the servo (ID1) until the servo runs to the target position
+
+    # Servo (ID1) runs at a maximum speed of V=1500*0.059=88.5rpm until it reaches position P0=20
+    scs_comm_result, scs_error = packetHandler.WritePos(1, 20, 0, 1500)
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+    if scs_error != 0:
+        print("%s" % packetHandler.getRxPacketError(scs_error))
+
+    read()# Read the status of the servo (ID1) until the servo runs to the target position
+# Close port
+portHandler.closePort()

ftservo_python_sdk-2.0.0/scscl/reg_write.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python
+#
+# *********     Gen Write Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+import time
+
+sys.path.append("..")
+from scservo_sdk import *                      # Uses FTServo SDK library
+
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0')# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+    
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+while 1:
+    # Servo (ID1~10) runs at a maximum speed ofV=1500*0.059=88.5rpm until it reaches position P1=1000
+    for scs_id in range(1, 11):
+        scs_comm_result, scs_error = packetHandler.RegWritePos(scs_id, 1000, 0, 1500)
+        if scs_comm_result != COMM_SUCCESS:
+            print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+        if scs_error != 0:
+            print("%s" % packetHandler.getRxPacketError(scs_error))
+    packetHandler.RegAction()
+
+    time.sleep((1000-20)/(1500) + 0.1)#//[(P1-P0)/(V)] + 0.1
+
+    # Servo (ID1~10) runs at a maximum speed ofV=1500*0.059=88.5rpm until it reaches position P0=20
+    for scs_id in range(1, 11):
+        scs_comm_result, scs_error = packetHandler.RegWritePos(scs_id, 20, 0, 1500)
+        if scs_comm_result != COMM_SUCCESS:
+            print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+        if scs_error != 0:
+            print("%s" % packetHandler.getRxPacketError(scs_error))
+    packetHandler.RegAction()
+
+    time.sleep((1000-20)/(1500) + 0.1))#//[(P1-P0)/(V)] + 0.1
+
+# Close port
+portHandler.closePort()

ftservo_python_sdk-2.0.0/scscl/sync_write.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python
+#
+# *********     Sync Write Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+import time
+
+sys.path.append("..")
+from scservo_sdk import *                      # Uses SCServo SDK library
+
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0')# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+while 1:
+    for scs_id in range(1, 11):
+        # Add SCServo#1~10 goal position\moving speed\moving accc value to the Syncwrite parameter storage
+        # Servo (ID1~10) runs at a maximum speed of V=1500*0.059=88.5rpm until it reaches position P1=1000
+        scs_addparam_result = packetHandler.SyncWritePos(scs_id, 1000, 0, 1500)
+        if scs_addparam_result != True:
+            print("[ID:%03d] groupSyncWrite addparam failed" % scs_id)
+
+    # Syncwrite goal position
+    scs_comm_result = packetHandler.groupSyncWrite.txPacket()
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+
+    # Clear syncwrite parameter storage
+    packetHandler.groupSyncWrite.clearParam()
+
+    time.sleep(((1000-20)/(1500) + 0.1))#[(P1-P0)/(V)] + 0.1
+
+    for scs_id in range(1, 11):
+        # Add SCServo#1~10 goal position\moving speed\moving accc value to the Syncwrite parameter storage
+        # Servo (ID1~10) runs at a maximum speed of V=1500*0.059=88.5rpm until it reaches position P0=20
+        scs_addparam_result = packetHandler.SyncWritePos(scs_id, 20, 0, 1500)
+        if scs_addparam_result != True:
+            print("[ID:%03d] groupSyncWrite addparam failed" % scs_id)
+
+    # Syncwrite goal position
+    scs_comm_result = packetHandler.groupSyncWrite.txPacket()
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+
+    # Clear syncwrite parameter storage
+    packetHandler.groupSyncWrite.clearParam()
+
+    time.sleep(((1000-20)/(1500) + 0.1))#[(P1-P0)/(V)] + 0.1
+
+# Close port
+portHandler.closePort()

ftservo_python_sdk-2.0.0/scscl/wheel.py

@@ -0,0 +1,75 @@
+#!/usr/bin/env python
+#
+# *********     Gen Write Example      *********
+#
+#
+# Available SCServo model on this example : All models using Protocol SCS
+# This example is tested with a SCServo(SCS), and an URT
+#
+
+import sys
+import os
+import time
+
+sys.path.append("..")
+from scservo_sdk import *                 # Uses SCServo SDK library
+
+
+# Initialize PortHandler instance
+# Set the port path
+# Get methods and members of PortHandlerLinux or PortHandlerWindows
+portHandler = PortHandler('/dev/ttyUSB0')# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
+
+# Initialize PacketHandler instance
+# Get methods and members of Protocol
+packetHandler = scscl(portHandler)
+    
+# Open port
+if portHandler.openPort():
+    print("Succeeded to open the port")
+else:
+    print("Failed to open the port")
+    quit()
+
+# Set port baudrate 1000000
+if portHandler.setBaudRate(1000000):
+    print("Succeeded to change the baudrate")
+else:
+    print("Failed to change the baudrate")
+    quit()
+
+scs_comm_result, scs_error = packetHandler.PWMMode(1)
+if scs_comm_result != COMM_SUCCESS:
+    print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+elif scs_error != 0:
+    print("%s" % packetHandler.getRxPacketError(scs_error))  
+while 1:
+    # Servo (ID1) Rotate forward with a maximum torque of 50%
+    scs_comm_result, scs_error = packetHandler.WritePWM(1, 500)
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+    if scs_error != 0:
+        print("%s" % packetHandler.getRxPacketError(scs_error))
+        
+    time.sleep(2)
+
+    # Servo (ID1) stops rotating
+    scs_comm_result, scs_error = packetHandler.WritePWM(1, 0)
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+    if scs_error != 0:
+        print("%s" % packetHandler.getRxPacketError(scs_error))
+        
+    time.sleep(2)
+
+    # SServo (ID1) rotates in reverse with a maximum torque of 50%
+    scs_comm_result, scs_error = packetHandler.WritePWM(1, -500)
+    if scs_comm_result != COMM_SUCCESS:
+        print("%s" % packetHandler.getTxRxResult(scs_comm_result))
+    if scs_error != 0:
+        print("%s" % packetHandler.getRxPacketError(scs_error))
+        
+    time.sleep(2)
+    
+# Close port
+portHandler.closePort()