pololu-maestro's Introduction

Pololu Maestro USB Servo Controller library for Windows, Linux, and macOS

Description

This package contains the code you need for making your own applications that control Pololu Maestro USB Devices. All of the code uses the devices' native USB interfaces.

The supported devices are:

Micro Maestro 6-Channel USB Servo Controller (#1350, #1351)
Mini Maestro 12-Channel USB Servo Controller (#1352, #1353)
Mini Maestro 18-Channel USB Servo Controller (#1354, #1355)
Mini Maestro 24-Channel USB Servo Controller (#1356, #1357)

Upgrading Firmware

See the firmwares subdirectory for the instructions.

Prerequisites

On all platforms

A compiler with C++11 support
CMake >= 3.11.0

On Linux

libusb-dev
python-dev

How to Use

C++

#include <maestro/Device.h>

std::vector<Maestro::Device> devices = Maestro::Device::getConnectedDevices();

devices[0].setAcceleration(0, 4);  // set servo 0 acceleration to 4
devices[0].setTarget(0, 6000);     // set servo to move to center position
devices[0].setSpeed(1, 10);        // set servo 1 speed to 10

Python

import maestro
devices = maestro.getConnectedDevices()

if len(devices) == 0:
    print("No Maestro devices connected")
    exit()

for device in devices:
    print(f"name: {device.getName()} #channels: {device.getNumChannels()}")
    for c in range(device.getNumChannels()):
        channel=device.getChannelSettings(c)
        print(f"#{c} mode: {channel.mode} min: {channel.minimum} max: {channel.maximum} speed: {channel.speed}")

# select first Maestro device
device=devices[0]
device.setAcceleration(0, 4) # set servo 0 acceleration to 4
device.setTarget(0, 6000)    # set servo to move to center position
device.setSpeed(1, 10)       # set servo 1 speed to 10

# compile and upload a script
with open('blink.txt', 'r') as content_file:
    script = content_file.read()

program = maestro.Program(script=script, isMiniMaestro=False)

device.writeScript(program.getByteList())

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