Python tools
The Python tools are in tools/python/. They need pyserial and pyusb
(requirements.txt), and numpy and matplotlib for the plots.
brew install libusbpython3 -m venv .venv && .venv/bin/pip install -r requirements.txt numpy matplotlib| Script | Moves the robot | Function |
|---|---|---|
ftdi_latency.py [ms] |
no | Read or set the FT232R latency timer (selects the FT232R by serial). |
benchmark.py |
no | Times stock-ATOM commands against direct Feetech reads. |
sniff_atom_command.py <cmd> [args] |
depends | Sends one stock-ATOM command and prints the bus traffic it causes. |
dump_servo_registers.py |
no | Prints registers 0–70 of J1–J6. |
j1_velocity_mode_test.py |
yes (J1) | Velocity-mode test with a safe return to position mode. |
sync_write_sine_test.py |
yes (J1) | 300 Hz closed loop on J1. |
smooth_motion_demo.py |
yes | Multi-joint sine trajectory from the zero pose, recorded. |
play_trajectory.py <plan.csv> |
yes | The Python laptop player. |
plot_recording.py <rec.csv> |
no | Plots a recording and prints error, lag, speed and load per joint. |
plot_circle.py <rec>_path.csv … |
no | Plots planned against traced flange paths. |
analyze_servo_response.py |
no | Fits the servo response, friction, and velocity estimators. |
mycobot_bus.py |
— | Shared helpers. |
Kinematics is not in Python. Use the Julia scripts for planning and for the flange path.