LewanSoul LX-16A is a wonderful servos although using them requires implementing custom serial protocol and you need to configure them before use (set unique IDs for all servos, configur limits, etc.). Company provides a tool for that, but it works only on Windows.
This project aims to fill the gap for non-Windows users. It consists of two parts: a servo library and a GUI tool. Servo library implements an interface to talk to servos using their protocol and GUI provides convenient way to configure them.
Just install both packages to use them:
( cd lewansoul-lx16a && python setup.py install )
( cd lewansoul-lx16a-terminal && python setup.py install )
To launch GUI use lewansoul_lx16a_terminal command.
import serial
import lewansoul_lx16a
SERIAL_PORT = '/dev/tty.wchusbserial1410'
controller = lewansoul_lx16a.ServoController(
serial.Serial(SERIAL_PORT, 115200, timeout=1),
)
# control servos directly
controller.move(1, 100) # move servo ID=1 to position 100
# or through proxy objects
servo1 = controller.servo(1)
servo2 = controller.servo(2)
servo1.move(100)
# synchronous move of multiple servos
servo1.move_prepare(300)
servo2.move_prepare(600)
controller.move_start()Example of controlling servos through Bus Servo Controller:
import serial
import time
from lewansoul_lx16a_controller import ServoController
logging.basicConfig(level=logging.DEBUG)
s = serial.Serial('/dev/tty.usbserial-00000000', 9600, timeout=2)
c = ServoController(s, timeout=5)
print(c.get_battery_voltage())
servo1_id = 3
servo2_id = 5
print(c.get_positions([servo1_id, servo2_id]))
c.move({servo1_id: 1000, servo2_id: 500}, time=300)
time.sleep(0.3)
c.move({servo1_id: 800, servo2_id: 500}, time=2000)
time.sleep(2)
c.unload([servo1_id, servo2_id])
time.sleep(0.1) # important not to close serial connection immediately
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