This is the Python SDK for the Westwood Robotics actuator module BEAR (Back-drivable Electromechanical Actuator for Robotics).
Current version: 0.1.2
In this version, the return format is always [[[data1, data2 ...], error], [[data1, data2 ...], error] ...] no matter if returning only one register or more per BEAR.
Website: www.westwoodrobotics.io
Email: info@westwoodrobotics.io
It is advised to use the Boosted USB2BEAR/USB2RoMeLa device for maximum speed.
Use at own risk when using other generic RS485 dangles.
When using the Boosted USB2BEAR/USB2RoMeLa device, you can use udev rules to allow local machine to asign a unique SYMLINK according to the serial number of the USB dangle.
- Move 00-WestwoodRobotics.rules file into /etc/udev/rules.d/ with 'sudo cp'
- Reload the rules
sudo udevadm control --reload
Everytime a Boosted USB2BEAR/USB2RoMeLa device is plugged in, a symlink that is: '/dev/serial#' will be created. For example, a device with serial number UB021 will have this SYMLINK: /dev/UB021
USB2RoMeLa from RoMeLa has 3 digit hexadecimal serial numbers.
USB2BEAR from Westwood Robotics has 4 digit hexadecimal serial numbers.
- Modify the permissions of your computer such that PyBEAR can access the serial port.
sudo chown -R your_username /usr/local
sudo usermod -a -G dialout your_username
- CD into PyBEAR/ directory and use pip/pip3 to install the package.
Python2
pip install .
Python3
pip3 install .
3.Make sure pyserial and numpy are installed. You can check this by running
pip show pyserial numpy
or
pip3 show pyserial numpy
Othewise, install the missing package(s).
- Enjoy!
Download the latest SDK Manual from www.westwoodrobotics.io for detailed instructions, helpful tips and various examples.
For detailed examples please refer to the SDK: https://westwoodrobotics.io/support/