API Reference

sc_servo

CircuitPython driver for Serial Controlled Servo and Motor Controllers (SCSCL) using UART.

  • Author(s): Jacques Supcik

Implementation Notes

Hardware:

Software and Dependencies:

class sc_servo.ScsMessage(servo_id: int, instruction: int, parameters: bytearray)

Messages for Serial Controlled Servo and Motor Controllers protocol. :param int servo_id: The ID of the servo or motor controller (between 1 and 253). :param int instruction: The instruction code to send. :param bytearray parameters: The parameters for the instruction.

checksum() → int

Calculate the checksum for the message.

static from_bytes(data: bytearray)

Create a Message object from a bytearray. :param data: The bytearray containing the message data.

to_bytes() → bytearray

Convert the message to a bytearray.

class sc_servo.SerialControlledServo(tx_pin: microcontroller.Pin, rx_pin: microcontroller.Pin, baud_rate: int = 1000000)

A bus for communicating with Serial Controlled Servo and Motor Controllers. :param ~microcontroller.Pin tx_pin: The UART transmit pin. :param ~microcontroller.Pin rx_pin: The UART receive pin. :param int baud_rate: The baud rate for the UART communication. Default is 1000000 (1MHz).

change_id(old_servo_id: int, new_servo_id: int) → None

Change the ID of a servo :param int old_servo_id: The current ID of the servo or motor controller (between 1 and 253). :param int new_servo_id: The new ID to set (between 1 and 253).

is_moving(servo_id: int) → bool

Check if a servo or motor controller is currently moving. :param int servo_id: The ID of the servo or motor controller (between 1 and 253).

load(servo_id: int) → int

Get the current load on a servo or motor controller. :param int servo_id: The ID of the servo or motor controller (between 1 and 253).

position(servo_id: int) → int

Get the current position of a servo or motor controller. :param int servo_id: The ID of the servo or motor controller (between 1 and 253).

set_all_motor_speeds(speed: int) → None

Set the speed of all servos or motor controllers as motors. :param int speed: The speed to set (between -1023 and 1023). Positive values are for clockwise rotation, negative values are for counter-clockwise rotation.

set_all_positions(pos: int, speed: int) → None

Set the position of all servos or motor controllers. :param int pos: The position to set (between 0 and 1023). :param int speed: The speed to move to the position (between 0 and 1500).

set_motor_speed(servo_id: int, speed: int)

Set the servo to operate as a motor and set its speed. :param int servo_id: The ID of the servo or motor controller (between 1 and 253). :param int speed: The speed to set (between -1023 and 1023). Positive values are for clockwise rotation, negative values are for counter-clockwise rotation.

set_position(servo_id: int, pos: int, speed: int) → None

Set the position of a servo or motor controller. :param int servo_id: The ID of the servo or motor controller (between 1 and 253). :param int pos: The position to set (between 0 and 1023). :param int speed: The speed to move to the position (between 0 and 1500).

speed(servo_id: int) → int

Get the current speed of a servo or motor controller. :param int servo_id: The ID of the servo or motor controller (between 1 and 253).

stop(servo_id: int) → None

Stop a servo or motor controller. :param int servo_id: The ID of the servo or motor controller (between 1 and 253).

stop_all() → None

Stop all servos or motor controllers.