<commit_before>.. image:: https://readthedocs.org/projects/pyax-12/badge/?version=latest
    :target: https://readthedocs.org/projects/pyax-12/?badge=latest
    :alt: Documentation Status

==========
`PyAX-12`_
==========

Copyright (c) 2010,2015 <NAME> (http://www.jdhp.org)


* Web site: http://www.jdhp.org/projects_en.html#pyax12
* Online documentation: http://pyax-12.readthedocs.org
* Source code: https://github.com/jeremiedecock/pyax12
* Issue tracker: https://github.com/jeremiedecock/pyax12/issues
* PyAX-12 on PyPI: https://pypi.python.org/pypi/pyax12

In collaboration with http://www.vorobotics.com


Description
===========

`PyAX-12`_ is an open source lightweight Python library to control
`Dynamixel AX-12+`_ actuators.

|Watch a demo on youtube|_

Note:

    This project is still in beta stage, so the API is not finalized yet.


Dependencies
============

-  Python >= 3.0
-  `Python-serial`_

PyAX-12 is tested to work with Python 3.4 under Gnu/Linux (Debian 8), MacOSX
(Mavericks 10.9) and Windows (7).
Any Python 3.X version under recent Gnu/Linux, MaxOSX and Windows systems
should suit too.

PyAX-12 can also be run on `Raspberry Pi`_ through the GPIO connector.

`Python-serial`_ is the only dependency required to install PyAX-12.

Note:

    If you use ``pip`` to install PyAX-12, Python-serial will be automatically
    downloaded and installed (see the following install_ section).


.. _install:

Installation
============

Gnu/Linux
---------

You can install, upgrade, uninstall PyAX-12 with these commands (in a
terminal)::

    pip install --pre pyax12
    pip install --upgrade pyax12
    pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    python3 setup.py install

.. There's also a package for Debian/Ubuntu::
.. 
..     sudo apt-get install pyax12

Windows
-------

.. Note:
.. 
..     The following installation procedure has been tested to work with Python
..     3.4 under Windows 7.
..     It should also work with recent Windows systems.

You can install, upgrade, uninstall PyAX-12 with these commands (in a
`command prompt`_)::

    py -m pip install --pre pyax12
    py -m pip install --upgrade pyax12
    py -m pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    py setup.py install

MacOSX
-------

.. Note:
.. 
..     The following installation procedure has been tested to work with Python
..     3.5 under MacOSX 10.9 (*Mavericks*).
..     It should also work with recent MacOSX systems.

You can install, upgrade, uninstall PyAX-12 with these commands (in a
terminal)::

    pip install --pre pyax12
    pip install --upgrade pyax12
    pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    python3 setup.py install


Hardware setup
==============

`Official AX-12 documentation <https://web.archive.org/web/20101008170532/http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm>`__ (archive).

Connecting AX-12 actuators to a computer (including Raspberry Pi computers) through USB port
--------------------------------------------------------------------------------------------

The USB2Dynamixel_ can be used to connect AX-12 actuators to your computer.
Actually, any FTDI serial/USB converter device should do the job.

For more information on USB2Dynamixel setup, check the
`official documentation <http://support.robotis.com/en/product/auxdevice/interface/usb2dxl_manual.htm>`__.

Connecting AX-12 actuators to a Raspberry Pi through GPIO port
--------------------------------------------------------------

A small electronic circuit is needed to convert Raspberry Pi UART signals (on
RX and TX pins) to the half-duplex ones required by Dynamixels (see
`this archive <https://web.archive.org/web/20100414173935/support.robotis.com/en/product/dynamixel/dxl_ax_main.htm>`__).

The chips that converts full-duplex into half-duplex are either 74HC126/74HC04
or 74LS241.

Control Dynamixel AX-12 with the 74LS241
''''''''''''''''''''''''''''''''''''''''

For the 74LS241, it's well explained on the following pages:

- http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi
- http://memememememememe.me/post/the-dynamixel-ax-12a-servos/
- http://robottini.altervista.org/dynamixel-ax-12a-and-arduino-how-to-use-the-serial-port
- http://savageelectronics.blogspot.fr/2011/01/arduino-y-dynamixel-ax-12.html
<commit_msg>Add the 74LS241 breadboard schematic.<commit_after>.. image:: https://readthedocs.org/projects/pyax-12/badge/?version=latest
    :target: https://readthedocs.org/projects/pyax-12/?badge=latest
    :alt: Documentation Status

==========
`PyAX-12`_
==========

Copyright (c) 2010,2015 <NAME> (http://www.jdhp.org)


* Web site: http://www.jdhp.org/projects_en.html#pyax12
* Online documentation: http://pyax-12.readthedocs.org
* Source code: https://github.com/jeremiedecock/pyax12
* Issue tracker: https://github.com/jeremiedecock/pyax12/issues
* PyAX-12 on PyPI: https://pypi.python.org/pypi/pyax12

In collaboration with http://www.vorobotics.com


Description
===========

`PyAX-12`_ is an open source lightweight Python library to control
`Dynamixel AX-12+`_ actuators.

|Watch a demo on youtube|_

Note:

    This project is still in beta stage, so the API is not finalized yet.


Dependencies
============

-  Python >= 3.0
-  `Python-serial`_

PyAX-12 is tested to work with Python 3.4 under Gnu/Linux (Debian 8), MacOSX
(Mavericks 10.9) and Windows (7).
Any Python 3.X version under recent Gnu/Linux, MaxOSX and Windows systems
should suit too.

PyAX-12 can also be run on `Raspberry Pi`_ through the GPIO connector.

`Python-serial`_ is the only dependency required to install PyAX-12.

Note:

    If you use ``pip`` to install PyAX-12, Python-serial will be automatically
    downloaded and installed (see the following install_ section).


.. _install:

Installation
============

Gnu/Linux
---------

You can install, upgrade, uninstall PyAX-12 with these commands (in a
terminal)::

    pip install --pre pyax12
    pip install --upgrade pyax12
    pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    python3 setup.py install

.. There's also a package for Debian/Ubuntu::
.. 
..     sudo apt-get install pyax12

Windows
-------

.. Note:
.. 
..     The following installation procedure has been tested to work with Python
..     3.4 under Windows 7.
..     It should also work with recent Windows systems.

You can install, upgrade, uninstall PyAX-12 with these commands (in a
`command prompt`_)::

    py -m pip install --pre pyax12
    py -m pip install --upgrade pyax12
    py -m pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    py setup.py install

MacOSX
-------

.. Note:
.. 
..     The following installation procedure has been tested to work with Python
..     3.5 under MacOSX 10.9 (*Mavericks*).
..     It should also work with recent MacOSX systems.

You can install, upgrade, uninstall PyAX-12 with these commands (in a
terminal)::

    pip install --pre pyax12
    pip install --upgrade pyax12
    pip uninstall pyax12

Or, if you have downloaded the PyAX-12 source code::

    python3 setup.py install


Hardware setup
==============

`Official AX-12 documentation <https://web.archive.org/web/20101008170532/http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm>`__ (archive).

Connecting AX-12 actuators to a computer (including Raspberry Pi computers) through USB port
--------------------------------------------------------------------------------------------

The USB2Dynamixel_ can be used to connect AX-12 actuators to your computer.
Actually, any FTDI serial/USB converter device should do the job.

For more information on USB2Dynamixel setup, check the
`official documentation <http://support.robotis.com/en/product/auxdevice/interface/usb2dxl_manual.htm>`__.

Connecting AX-12 actuators to a Raspberry Pi through GPIO port
--------------------------------------------------------------

A small electronic circuit is needed to convert Raspberry Pi UART signals (on
RX and TX pins) to the half-duplex ones required by Dynamixels (see
`this archive <https://web.archive.org/web/20100414173935/support.robotis.com/en/product/dynamixel/dxl_ax_main.htm>`__).

The chips that converts full-duplex into half-duplex are either 74HC126/74HC04
or 74LS241.

Control Dynamixel AX-12 with the 74LS241
''''''''''''''''''''''''''''''''''''''''

.. image:: docs/images/breadboard.png
    :alt: 74LS241 breadboard
    :align: center

For the 74LS241, it's well explained on the following pages:

- http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi
- http://memememememememe.me/post/the-dynamixel-ax-12a-servos/
- http://robottini.altervista.org/dynamixel-ax-12a-and-arduino-how-to-use-the-serial-port
- http://savageelectronics.blogspot.fr/2011/01/arduino-y-dynamixel-ax-12.html

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