DYNAMIXEL Easy SDK
Overview
- The Dynamixel_Easy_SDK is a library that wraps the low-level Dynamixel SDK in a motor-object-oriented design, making it easier for first-time users to work with Dynamixel.
- Its primary goal is to provide a more intuitive and easier-to-use interface for controlling Dynamixel motors.
Features
Object-Oriented Design:
- Each Dynamixel motor is managed as a distinct Motor object. By mapping the physical motor to a software object on a 1:1 basis, users can intuitively control a specific motor.
Intuitive Abstraction:
- The Dynamixel Easy SDK provides functions with clear and descriptive names, allowing users to control motors without needing to understand the underlying protocol. For example, calling
motor1.torque_enable()directly conveys its purpose, making the Dynamixel Easy SDK easy to learn and use.
Automatic Model Recognition:
- The Dynamixel Easy SDK can automatically detect the connected Dynamixel model and load its corresponding control table, eliminating the need for manual configuration and simplifying development.
Error Handling:
- Python : The Dynamixel Easy SDK introduces a unified exception handling mechanism for both communication errors and Dynamixel-specific errors. This allows developers to catch all error cases using a single exception type, simplifying error handling code and improving readability.
- C++ : Instead of returning a raw int, the Dynamixel Easy SDK now uses a result object that encapsulates both communication errors and Dynamixel-specific errors. This allows developers to handle all error cases in a unified way, making error logging code more concise and improving readability.
Supported Environments
- Programming Languages:
Python>=3.6,C++ (17 standard or later) - Operating Systems:
Python,Linux 64-bit - Protocols:
2.0