Dynamixel communication

PyPot installation

To communicate with servomotors, we will use PyPot library. To install it, simply run:

sudo apt-get install python3 python3-pip python3-numpy python3-scipy python3-matplotlib python3-opencv
pip3 install pypot

Usage

Here is a script example allowing to move the ID=1 motor:

import pypot.dynamixel

ports = pypot.dynamixel.get_available_ports()
if not ports:
    exit('No port')

dxl_io = pypot.dynamixel.DxlIO(ports[0])
dxl_io.set_wheel_mode([1])
dxl_io.set_moving_speed({1: 360}) # Degrees / s