alecxcode / pylx-16a

A modern Python library for controlling HiWonder's LX-16A servos.

PyLX-16A

A modern Python library for controlling HiWonder's (previously LewanSoul's) LX-16A servos.

Install and Setup

This library requires a Python version >= 3.10. You can install using pip:

python3.10 -m pip install pylx16a

On Linux, you can run sudo dmesg after plugging it in, which prints the most recent kernel messages. It should say something like ch341-uart converter now attached to ttyUSB0, in which case the port you want is /dev/ttyUSB0.

There's also the possibility that your program doesn't have access to the port you want to use. In this case, we need to modify the permissions of the port (e.g. /dev/ttyUSB0). To make it publicly readable and writable, run sudo chmod a+rw /dev/ttyUSB0.

Documentation

Refer to documentation.md.

Example program

/dev/ttyUSB0 is most likely the connected port on Linux. On Windows, try the COM ports instead, e.g. LX16A.initialize("COM3").

from math import sin, cos, pi
from pylx16a.lx16a import *
import time

LX16A.initialize("/dev/ttyUSB0")

try:
    servo1 = LX16A(1)
    servo2 = LX16A(2)
    servo1.set_angle_limits(0, 240)
    servo2.set_angle_limits(0, 240)
except ServoTimeoutError as e:
    print(f"Servo {e.id_} is not responding. Exiting...")
    quit()

t = 0
while True:
    servo1.move(sin(t) * 60 + 60)
    servo2.move(cos(t) * 60 + 60)

    time.sleep(0.05)
    t += 0.1