one-axis-stage

Hardware design and Python software for modular, low-cost one-axis stages using Dynamixel XL-320 servo motors.

Provides a serial API, high-level controller, and stage CLI for scanning, configuring, and jogging stages from the command line.

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Installation

pip install one-axis-stage

For interactive jog mode:

pip install "one-axis-stage[cli]"

Quick start

from one_axis_stage.api import StageAPI

api = StageAPI(serial_port="/dev/ttyUSB0")
api.connect()
print(api.get_info(device_id=21))
api.set_position(device_id=21, position=400)
api.disconnect()

CLI

stage scan --port /dev/ttyUSB0
stage info --port /dev/ttyUSB0 --id 21
stage move --port /dev/ttyUSB0 --id 21 --position 400
stage jog  --port /dev/ttyUSB0 --id 21

Hardware

Arduino Mega 2560 + Dynamixel shield + XL-320 motors + linear slides. Firmware source in firmware/.

License

BSD 3-Clause. See LICENSE.