Installation¶
Requirements¶
Python 2.7 and Cython. You will also need the relevant hardware.
- One or more Dynamixel servos. This has been tested on the Dynamixel AX-12 but the MX-28T model should also work.
- The USB2AX interface device created by Xevelabs.
- Some way to power the servos, e.g. a separate battery or the SMPS2Dynamixel adapter. Refer to the Dynamixel manual or the USB2AX website for further help with setting up the hardware.
Building¶
$ git clone git://github.com/jthorniley/pyusb2ax.git
$ cd pyusb2ax
$ python setup.py install
This does the following:
Downloads the Dynamixel SDK
- Patches it to make it compatible with the USB2AX.
- Specifically, that means turn the dxl_hal.c file into something more like Nicholas Saugnier’s modified verision. This is useful/necessary because the USB2AX does not behave exactly the same as the USB2Dynamixel which the SDK expects.
- And makes modifications to allow passing the sync_read instruction through the API.
Creates and installs a module called usb2ax which provides easy access to the dynamixel servos from Python.