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Dynamixel Control

Use

Use this library to communicate with Dynamixel motors. Currently, this is set up for position control and feedback for Dynamixel XL-320 and XL-330 motors, although more can be added with ease.

Instalation and Dependencies

Clone this package into your project or add as a submodule:

git clone https://github.com/OSUrobotics/dynamixel_control.git
or
git submodule add https://github.com/OSUrobotics/dynamixel_control.git

This library requires the following dependencies:

  • Numpy
python3 -m pip install numpy
  • Dynamixel-SDK
python3 -m pip install dynamixel-sdk

There are two modules - dynamixel.py and dxl.py. dynamixel.py contains all of the functions needed to control and read dynamixels. Examples are provided at the bottom of the file. For every Dynamixel motor attached, dynamixel.py creates a Dxl object from dxl.py. That object contains all the neccessary parameters and stores the Dynamixel's cablibration, current position, etc.

From directory, build package: python3 -m build Upload Package: python3 -m twine upload dist/*