Python Library for Keigan Motor (v2)

Introduction

You can control your Keigan Motor through USB Serial and BLE.

https://www.keigan-motor.com/

This library has been updated from v1 to more than v2.

The method names are not comatible, but we added many important features.

We strongly recommend more than v2 from now on.

Just in case you can get v1 from: https://github.com/keigan-motor/pykeigan_motor/tree/v1

At present we support Linux only for BLE, because the BLE functions of this library depends on bluepy(Python interface to Bluetooth LE on Linux by Mr. Ian Harvey):

https://github.com/IanHarvey/bluepy

The USB serial functions should work on Windows and Mac too.

Requirements

• python >= 3.5 (recommended)
• pyserial >= 3.4
• bluepy >= 1.1.4 (BLE support. Linux only)

NOTE) This library runs on python 3.5 or later.

If you want to use it with python 2.7 in ROS, etc., please use 2.2.0.

https://github.com/keigan-motor/pykeigan_motor/tree/2.2.0

We recommend to update your KeiganMotor firmware to the latest as python script can cause error if it use new API commands.

Update 2.4.0

• support both python2.7 and 3

Installation

Install from source:

sudo apt install git
git clone https://github.com/keigan-motor/pykeigan_motor
cd pykeigan_motor
python setup.py install
# and to install BLE Support
    sudo apt-get install python-pip libglib2.0-dev
    sudo pip install bluepy
pip install .[ble]

Install from PyPI:

pip3 install pykeigan-motor
# or to install BLE Support
pip3 install pykeigan-motor[ble]

• NOTE) Use pip instead of pip3 in case of Python2.x or Windows OS.

USB Serial

To connect your Keigan Motor through USB serial, you need to know the mounted path. You can get the unique path of your Keigan Motor by:

ls /dev/serial/by-id/

Your Keigan Motor's ID should be like 'usb-FTDI_FT230X_Basic_UART_DM00XXXX-if00-port0'. To use your Keigan Motor through USB serial, you need to add R/W permission to it.:

sudo chmod 666 /dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_DM00XXXX-if00-port0

• Simplest Sample Code

  Rotate counter-clockwise with 1.0 rad/sec.

from pykeigan import usbcontroller
dev=usbcontroller.USBContoller('/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_DM00xxxx-if00-port0')
dev.enable_action()
dev.set_speed(1.0)
dev.run_forward()

• examples/usb-simple-connection.py

  Basic connection to the Motor.

• examples/usb-rotate-the-motor.py

  Rotate the Motor continuously and stop.

• examples/usb-position-control.py

  Rotate the Motor to the relative and absolute position.

• examples/usb-get-motor-Informations.py

  Acquire the speed, position, torque and IMU values of the Motor.

• examples/usb-actuator.py

  Let the Motor go and return for the specific distance.

• examples/usb-torque-control.py

  Demonstration for a torque control. Increase the torque as you rotate the Motor by hand.

• examples/usb-teaching-control.py

  Let the Motor record and playback your motion.

BLE (for Linux Only)

You need to know the MAC address of your Keigan Motor for BLE connection.

For example, you can use the following simple script. Please run with sudo.

KM1Scan.py

from bluepy.btle import Scanner
scanner=Scanner()
devices=scanner.scan(5.0)
for dev in devices:
    for (adtype, desc, value) in dev.getScanData():
        if desc=="Complete Local Name" and "KM-1" in value:
            print(value,":",dev.addr)

• Simplest Sample Code

  Rotate counter-clockwise with 1.0 rad/sec.

from pykeigan import blecontroller
dev=blecontroller.BLEController("xx:xx:xx:xx:xx")
dev.enable_action()
dev.set_speed(1.0)
dev.run_forward()

• examples/ble-simple-connection.py

  Basic connection to the Motor.

• examples/ble-scanner-connection.py

  Connect to the Motor by BLE scanning.

• examples/ble-rotate-the-motor.py

  Rotate the Motor continuously and stop.

• examples/ble-get-motor-Informations.py

  Acquire the speed, position, torque and IMU values of the Motor.

Release Notes

Release 2.4.0

• Added support both python2 and 3 support
• Update some examples
• Add reinit, reconnection during initialize

Release 2.2.5

• Respond to KeiganMotor firmware ver >= 2.40
• Bug fixes
• Added serial reconnection feature(USB)
• Added some new APIs
• Added some examples

Release 2.1.0

• Added python 2 support

Release 2.0.1

• Added APIs for reading and writing teaching data
• Added read_motion and write_motion_position

Release 2.0.0

• Method Names Renewal
• Added Debug Mode
• Added Data Acquisition on USB serial
• Added Windows and Mac Support for USB serial