Easy PID Motor Controller (EPMC) Python Library

This library helps communicate with the Easy PID Motor Controller Module in your PC or microcomputer-based python projects, with the epmc_setup_application.

you can use it in your microcomputer robotics project (e.g Raspberry Pi, PC, etc.)

A simple way to get started is simply to try out and follow the example code

Dependencies

• you'll need to pip install the pyserial library

    pip3 install pyserial   //linux or mac
    pip install pyserial   //windows

Dependencies

• you'll need to pip install the pyserial library

  pip3 install pyserial

How to Use the Library

• Ensure you have the EPMC MODULE interfaced with your preferred motors, setup the encoder and PID parameters with the epmc_setup_application.

• Download (by clicking on the green Code button above) or clone the repo into your PC using git clone

Note

you can use this command if you want to clone the repo:

git clone https://github.com/samuko-things-company/epmc_python.git

• check the serial port the driver is connected to:

  ls /dev/ttyA*

  you should see /dev/ttyACM0 or /dev/ttyACM1 and so on

• A simple way to get started is simply to try out and follow the example motor_control.py code.

• You can copy the epmc.py file into your python robotics project, import the library as shown in the example motor_control.py code, add it to your code, and start using it.

Basic Library functions and usage

• connect to smc_driver shield module

  epmc = EPMC()

  epmc.connect("port_name or port_path")

  epmc.clearDataBuffer() # returns bool -> success

• send target angular velocity command

  epmc.writeSpeed(motor0_TargetVel, motor1_TargetVel)

• send PWM command

  epmc.writePWM(motor0_PWM, motor1_PWM)

• set motor command timeout

  epmc.setCmdTimeout(timeout_ms)

• get motor command timeout

  epmc.getCmdTimeout() # returns tuple -> (success, motor_command_timeout_ms): bool, float

• read motors angular position

  epmc.readPos() # returns tuple -> (success, angPos0, angPos1): bool, float, float

• read motors angular velocity

  epmc.readSpeed() # returns tuple -> (success, angVel0, angVel1): bool, float, float

• read motorA maximum commandable angular velocity

  epmc.getMaxSpeed(motor_no) # returns tuple -> (success, max_vel): bool, float, float maxVel0 or maxVel1 based on the specified motor number