-
-
-# LSS_Libraries_Python
-
-Official Lynxmotion Smart Servo (LSS) libraries for Python
-
-
-
-Read more about the LSS on our wiki
-
-If you want more details about the LSS protocol, go here.
-
-To configure your LSS easily, we recommend you try out the LSS Config. More details about it on the wiki.
-
-Purchase any LSS model on RobotShop.com and get accessories, too!
-
-Check out blogs, tutorials and post questions on the Robotshop community site.
-
-
-
-
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diff --git a/pylss/__init__.py b/pylss/__init__.py
new file mode 100644
index 0000000..fac8019
--- /dev/null
+++ b/pylss/__init__.py
@@ -0,0 +1,66 @@
+# Author: Sebastien Parent-Charette (support@robotshop.com)
+# License: LGPL-3.0 (GNU Lesser General Public License version 3)
+
+"""Lynxmotion Smart Servo (LSS) Python Library.
+
+This library provides an interface to control Lynxmotion Smart Servo (LSS)
+actuators via serial communication.
+
+Example:
+ >>> import serial
+ >>> from pylss import LSS
+ >>>
+ >>> bus = serial.Serial('/dev/ttyUSB0', 115200, timeout=0.1)
+ >>> servo = LSS(5, bus)
+ >>> servo.move_deg(45.0)
+ >>> position = servo.get_position_deg()
+ >>> bus.close()
+"""
+
+from .lss import LSS
+from .constants import (
+ DEFAULT_BAUD,
+ TIMEOUT_MS,
+ Action,
+ Query,
+ Config,
+ QueryType,
+ SetType,
+ Mode,
+ Status,
+ Model,
+ ModelString,
+ ServoID,
+ ComStatus,
+ GyreDirection,
+ LedColor,
+)
+
+__version__ = "0.1.0"
+__author__ = "Sebastien Parent-Charette, Sebastian Plamauer"
+__license__ = "LGPL-3.0-or-later"
+
+__all__ = [
+ # Main class
+ "LSS",
+ # Constants
+ "DEFAULT_BAUD",
+ "TIMEOUT_MS",
+ # Command enums
+ "Action",
+ "Query",
+ "Config",
+ # Parameter types
+ "QueryType",
+ "SetType",
+ "Mode",
+ # Status and identification
+ "Status",
+ "Model",
+ "ModelString",
+ "ServoID",
+ "ComStatus",
+ # Configuration
+ "GyreDirection",
+ "LedColor",
+]
diff --git a/pylss/constants.py b/pylss/constants.py
new file mode 100644
index 0000000..9022678
--- /dev/null
+++ b/pylss/constants.py
@@ -0,0 +1,211 @@
+# Author: Sebastien Parent-Charette (support@robotshop.com)
+# License: LGPL-3.0 (GNU Lesser General Public License version 3)
+
+from enum import IntEnum, StrEnum
+
+# List of constants
+
+# Bus communication
+DEFAULT_BAUD = 115200
+# Command Length
+# example: #999XXXX-2147483648\r Adding 1 for end string char (\0)
+MAX_TOTAL_COMMAND_LENGTH = 30 + 1
+TIMEOUT_MS = 100
+COMMAND_START = "#"
+COMMAND_REPLY_START = "*"
+COMMAND_END = "\r"
+FIRST_POSITION_DISABLED = "DIS"
+
+
+# LSS ID constants
+class ServoID(IntEnum):
+ """Servo ID range constants"""
+
+ DEFAULT = 0
+ MIN = 0
+ MAX = 250
+ MODE_255 = 255
+ BROADCAST = 254
+
+
+# Read/write status
+class ComStatus(IntEnum):
+ """Communication status codes"""
+
+ IDLE = 0
+ READ_SUCCESS = 1
+ READ_TIMEOUT = 2
+ READ_WRONG_ID = 3
+ READ_WRONG_IDENTIFIER = 4
+ READ_WRONG_FORMAT = 5
+ READ_NO_BUS = 6
+ READ_UNKNOWN = 7
+ WRITE_SUCCESS = 8
+ WRITE_NO_BUS = 9
+ WRITE_UNKNOWN = 10
+
+
+# LSS status
+class Status(IntEnum):
+ """Servo status codes"""
+
+ UNKNOWN = 0
+ LIMP = 1
+ FREE_MOVING = 2
+ ACCELERATING = 3
+ TRAVELING = 4
+ DECELERATING = 5
+ HOLDING = 6
+ OUTSIDE_LIMITS = 7
+ STUCK = 8 # cannot move at current speed setting
+ BLOCKED = 9 # same as stuck but reached maximum duty and still can't move
+ SAFE_MODE = 10
+ LAST = 11
+
+
+# LSS models
+class Model(IntEnum):
+ """Servo model types"""
+
+ HIGH_TORQUE = 0
+ STANDARD = 1
+ HIGH_SPEED = 2
+ UNKNOWN = 3
+
+
+# Model string constants
+class ModelString(StrEnum):
+ """Servo model string identifiers"""
+
+ HT1 = "LSS-HT1"
+ ST1 = "LSS-ST1"
+ HS1 = "LSS-HS1"
+
+
+# Parameter for query
+class QueryType(IntEnum):
+ """Query parameter types"""
+
+ SESSION = 0
+ CONFIG = 1
+ INSTANTANEOUS_SPEED = 2
+ TARGET_TRAVEL_SPEED = 3
+
+
+# Parameter for setter
+class SetType(IntEnum):
+ """Setter parameter types"""
+
+ SESSION = 0
+ CONFIG = 1
+
+
+# Parameter for Serial/RC mode change
+class Mode(IntEnum):
+ """Operating modes"""
+
+ SERIAL = 0
+ POSITION_RC = 1
+ WHEEL_RC = 2
+
+
+# Parameter for gyre direction
+class GyreDirection(IntEnum):
+ """Rotation direction"""
+
+ CLOCKWISE = 1
+ COUNTER_CLOCKWISE = -1
+
+
+# LED colors
+class LedColor(IntEnum):
+ """LED color codes"""
+
+ BLACK = 0
+ RED = 1
+ GREEN = 2
+ BLUE = 3
+ YELLOW = 4
+ CYAN = 5
+ MAGENTA = 6
+ WHITE = 7
+
+
+# Commands - actions
+class Action(StrEnum):
+ """Action command strings"""
+
+ RESET = "RESET"
+ LIMP = "L"
+ HOLD = "H"
+ PARAMETER_TIME = "T"
+ PARAMETER_SPEED = "S"
+ MOVE = "D"
+ MOVE_RELATIVE = "MD"
+ WHEEL = "WD"
+ WHEEL_RPM = "WR"
+ ORIGIN_OFFSET = "O"
+ ANGULAR_RANGE = "AR"
+ MAX_SPEED = "SD"
+ MAX_SPEED_RPM = "SR"
+ COLOR_LED = "LED"
+ GYRE_DIRECTION = "G"
+ ANGULAR_STIFFNESS = "AS"
+ ANGULAR_HOLDING_STIFFNESS = "AH"
+ ANGULAR_ACCELERATION = "AA"
+ ANGULAR_DECELERATION = "AD"
+ ENABLE_MOTION_CONTROL = "EM"
+
+
+# Commands - queries
+class Query(StrEnum):
+ """Query command strings"""
+
+ STATUS = "Q"
+ ORIGIN_OFFSET = "QO"
+ ANGULAR_RANGE = "QAR"
+ POSITION_PULSE = "QP"
+ POSITION = "QD"
+ SPEED = "QWD"
+ SPEED_RPM = "QWR"
+ SPEED_PULSE = "QS"
+ MAX_SPEED = "QSD"
+ MAX_SPEED_RPM = "QSR"
+ COLOR_LED = "QLED"
+ GYRE = "QG"
+ ID = "QID"
+ BAUD = "QB"
+ FIRST_POSITION = "QFD"
+ MODEL_STRING = "QMS"
+ SERIAL_NUMBER = "QN"
+ FIRMWARE_VERSION = "QF"
+ VOLTAGE = "QV"
+ TEMPERATURE = "QT"
+ CURRENT = "QC"
+ ANGULAR_STIFFNESS = "QAS"
+ ANGULAR_HOLDING_STIFFNESS = "QAH"
+ ANGULAR_ACCELERATION = "QAA"
+ ANGULAR_DECELERATION = "QAD"
+ ENABLE_MOTION_CONTROL = "QEM"
+ BLINKING_LED = "QLB"
+
+
+# Commands - configurations
+class Config(StrEnum):
+ """Configuration command strings"""
+
+ ID = "CID"
+ BAUD = "CB"
+ ORIGIN_OFFSET = "CO"
+ ANGULAR_RANGE = "CAR"
+ MAX_SPEED = "CSD"
+ MAX_SPEED_RPM = "CSR"
+ COLOR_LED = "CLED"
+ GYRE_DIRECTION = "CG"
+ FIRST_POSITION = "CFD"
+ MODE = "CRC"
+ ANGULAR_STIFFNESS = "CAS"
+ ANGULAR_HOLDING_STIFFNESS = "CAH"
+ ANGULAR_ACCELERATION = "CAA"
+ ANGULAR_DECELERATION = "CAD"
+ BLINKING_LED = "CLB"
diff --git a/pylss/lss.py b/pylss/lss.py
new file mode 100644
index 0000000..86154da
--- /dev/null
+++ b/pylss/lss.py
@@ -0,0 +1,554 @@
+# Author: Sebastien Parent-Charette (support@robotshop.com)
+# License: LGPL-3.0 (GNU Lesser General Public License version 3)
+
+import re
+import serial
+
+from .constants import (
+ TIMEOUT_MS,
+ COMMAND_START,
+ COMMAND_REPLY_START,
+ COMMAND_END,
+ Action,
+ Query,
+ Config,
+ QueryType,
+ SetType,
+)
+
+
+class LSS:
+ """Lynxmotion Smart Servo (LSS) controller class.
+
+ This class provides an interface to control LSS smart servos via serial communication.
+ Each instance represents a single servo on a shared serial bus.
+ """
+
+ def __init__(self, servo_id: int, bus: serial.Serial) -> None:
+ """Initialize an LSS servo controller.
+
+ Args:
+ servo_id: The ID of the servo to control (0-254)
+ bus: Serial connection to the servo bus
+ """
+ self.servo_id = servo_id
+ self.bus = bus
+ if self.bus:
+ self.bus.timeout = TIMEOUT_MS
+
+ def __del__(self) -> None:
+ """Close the serial connection when the object is deleted."""
+ if hasattr(self, "bus") and self.bus and self.bus.is_open:
+ self.bus.close()
+
+ def _write(self, cmd: str, param: int | str | None = None) -> None:
+ """Write a command to the servo.
+
+ Args:
+ cmd: Command string to send
+ param: Optional parameter value
+
+ Raises:
+ Exception: If serial bus is not available or not open
+ """
+ if not self.bus or not self.bus.is_open:
+ raise Exception("Serial bus is not available or not open")
+
+ if param is None:
+ message = f"{COMMAND_START}{self.servo_id}{cmd}{COMMAND_END}"
+ else:
+ message = f"{COMMAND_START}{self.servo_id}{cmd}{param}{COMMAND_END}"
+
+ self.bus.write(message.encode())
+
+ def _read_int(self, cmd: str) -> int:
+ """Read an integer response from the servo.
+
+ Args:
+ cmd: Command string that was sent
+
+ Returns:
+ Integer value from servo
+
+ Raises:
+ Exception: If serial bus is not available, timeout occurs, or response is invalid
+ """
+ if not self.bus or not self.bus.is_open:
+ raise Exception("Serial bus is not available or not open")
+
+ try:
+ # Find start of packet
+ c = self.bus.read()
+ while c.decode("utf-8") != COMMAND_REPLY_START:
+ c = self.bus.read()
+ if c.decode("utf-8") == "":
+ raise Exception(f"Timeout waiting for response to command '{cmd}'")
+
+ # Read until end marker
+ data = self.bus.read_until(COMMAND_END.encode("utf-8"))
+
+ # Parse response: ID + Command + Value
+ matches = re.match(
+ r"(\d{1,3})([A-Z]{1,4})(-?\d{1,18})", data.decode("utf-8"), re.I
+ )
+
+ if not matches:
+ raise Exception(
+ f"Malformed response for command '{cmd}': {data.decode('utf-8')}"
+ )
+
+ read_id, read_ident, read_value = matches.groups()
+
+ # Verify response matches request
+ if read_id != str(self.servo_id):
+ raise Exception(
+ f"Response from wrong servo ID: expected {self.servo_id}, got {read_id}"
+ )
+
+ if read_ident != cmd:
+ raise Exception(
+ f"Response command mismatch: expected '{cmd}', got '{read_ident}'"
+ )
+
+ return int(read_value)
+
+ except Exception as e:
+ if (
+ "Serial bus" in str(e)
+ or "Timeout" in str(e)
+ or "Malformed" in str(e)
+ or "Response" in str(e)
+ ):
+ raise
+ raise Exception(f"Communication error reading command '{cmd}': {str(e)}")
+
+ def _read_str(self, cmd: str, num_chars: int) -> str:
+ """Read a string response from the servo.
+
+ Args:
+ cmd: Command string that was sent
+ num_chars: Expected number of characters in response
+
+ Returns:
+ String value from servo
+
+ Raises:
+ Exception: If serial bus is not available, timeout occurs, or response is invalid
+ """
+ if not self.bus or not self.bus.is_open:
+ raise Exception("Serial bus is not available or not open")
+
+ try:
+ # Find start of packet
+ c = self.bus.read()
+ while c.decode("utf-8") != COMMAND_REPLY_START:
+ c = self.bus.read()
+ if c.decode("utf-8") == "":
+ raise Exception(f"Timeout waiting for response to command '{cmd}'")
+
+ # Read until end marker
+ data = self.bus.read_until(COMMAND_END.encode("utf-8"))[:-1]
+
+ # Parse response: ID + Command + Value
+ matches = re.match(
+ rf"(\d{{1,3}})([A-Z]{{1,4}})(.{{{num_chars}}})",
+ data.decode("utf-8"),
+ re.I,
+ )
+
+ if not matches:
+ raise Exception(
+ f"Malformed response for command '{cmd}': {data.decode('utf-8')}"
+ )
+
+ read_id, read_ident, read_value = matches.groups()
+
+ # Verify response matches request
+ if read_id != str(self.servo_id):
+ raise Exception(
+ f"Response from wrong servo ID: expected {self.servo_id}, got {read_id}"
+ )
+
+ if read_ident != cmd:
+ raise Exception(
+ f"Response command mismatch: expected '{cmd}', got '{read_ident}'"
+ )
+
+ return read_value
+
+ except Exception as e:
+ if (
+ "Serial bus" in str(e)
+ or "Timeout" in str(e)
+ or "Malformed" in str(e)
+ or "Response" in str(e)
+ ):
+ raise
+ raise Exception(f"Communication error reading command '{cmd}': {str(e)}")
+
+ # Action methods
+
+ def reset(self) -> None:
+ """Reset the servo."""
+ self._write(Action.RESET)
+
+ def limp(self) -> None:
+ """Put the servo in limp mode (no torque)."""
+ self._write(Action.LIMP)
+
+ def hold(self) -> None:
+ """Hold current position with torque."""
+ self._write(Action.HOLD)
+
+ def move_deg(self, degrees: float) -> None:
+ """Move to absolute position in degrees.
+
+ Args:
+ degrees: Target position in degrees
+ """
+ self._write(Action.MOVE, int(degrees * 10))
+
+ def move_relative_deg(self, degrees: float) -> None:
+ """Move relative to current position in degrees.
+
+ Args:
+ degrees: Relative position in degrees
+ """
+ self._write(Action.MOVE_RELATIVE, int(degrees * 10))
+
+ def wheel_deg_per_sec(self, degrees_per_sec: float) -> None:
+ """Continuous rotation at specified speed in degrees per second.
+
+ Args:
+ degrees_per_sec: Speed in degrees per second
+ """
+ self._write(Action.WHEEL, int(degrees_per_sec * 10))
+
+ def wheel_rpm(self, rpm: int) -> None:
+ """Continuous rotation at specified RPM.
+
+ Args:
+ rpm: Speed in RPM
+ """
+ self._write(Action.WHEEL_RPM, rpm)
+
+ # Query methods
+
+ def get_status(self) -> int:
+ """Get servo status."""
+ self._write(Query.STATUS)
+ return self._read_int(Query.STATUS)
+
+ def get_origin_offset_deg(self, query_type: QueryType = QueryType.SESSION) -> float:
+ """Get origin offset in degrees."""
+ self._write(Query.ORIGIN_OFFSET, query_type)
+ result = self._read_int(Query.ORIGIN_OFFSET)
+ return result / 10.0
+
+ def get_angular_range_deg(self, query_type: QueryType = QueryType.SESSION) -> float:
+ """Get angular range in degrees."""
+ self._write(Query.ANGULAR_RANGE, query_type)
+ result = self._read_int(Query.ANGULAR_RANGE)
+ return result / 10.0
+
+ def get_position_pulse(self) -> int:
+ """Get position in pulse units."""
+ self._write(Query.POSITION_PULSE)
+ return self._read_int(Query.POSITION_PULSE)
+
+ def get_position_deg(self) -> float:
+ """Get position in degrees."""
+ self._write(Query.POSITION)
+ result = self._read_int(Query.POSITION)
+ return result / 10.0
+
+ def get_speed_deg_per_sec(self) -> float:
+ """Get current speed in degrees per second."""
+ self._write(Query.SPEED)
+ result = self._read_int(Query.SPEED)
+ return result / 10.0
+
+ def get_speed_rpm(self) -> int:
+ """Get current speed in RPM."""
+ self._write(Query.SPEED_RPM)
+ return self._read_int(Query.SPEED_RPM)
+
+ def get_speed_pulse(self) -> int:
+ """Get current speed in pulse units."""
+ self._write(Query.SPEED_PULSE)
+ return self._read_int(Query.SPEED_PULSE)
+
+ def get_max_speed_deg(self, query_type: QueryType = QueryType.SESSION) -> float:
+ """Get maximum speed in degrees per second."""
+ self._write(Query.MAX_SPEED, query_type)
+ result = self._read_int(Query.MAX_SPEED)
+ return result / 10.0
+
+ def get_max_speed_rpm(self, query_type: QueryType = QueryType.SESSION) -> int:
+ """Get maximum speed in RPM."""
+ self._write(Query.MAX_SPEED_RPM, query_type)
+ return self._read_int(Query.MAX_SPEED_RPM)
+
+ def get_color_led(self, query_type: QueryType = QueryType.SESSION) -> int:
+ """Get LED color."""
+ self._write(Query.COLOR_LED, query_type)
+ return self._read_int(Query.COLOR_LED)
+
+ def get_gyre(self, query_type: QueryType = QueryType.SESSION) -> int:
+ """Get gyre direction."""
+ self._write(Query.GYRE, query_type)
+ return self._read_int(Query.GYRE)
+
+ def get_first_position_deg(self) -> float:
+ """Get first position in degrees (returns 0 if disabled)."""
+ self._write(Query.FIRST_POSITION)
+ result = self._read_int(Query.FIRST_POSITION)
+ return result / 10.0
+
+ def get_is_first_position_enabled(self) -> bool:
+ """Check if first position is enabled."""
+ try:
+ self._write(Query.FIRST_POSITION)
+ self._read_int(Query.FIRST_POSITION)
+ return True
+ except Exception:
+ return False
+
+ def get_model(self) -> str:
+ """Get servo model string."""
+ self._write(Query.MODEL_STRING)
+ return self._read_str(Query.MODEL_STRING, 7)
+
+ def get_serial_number(self) -> int:
+ """Get servo serial number."""
+ self._write(Query.SERIAL_NUMBER)
+ return self._read_int(Query.SERIAL_NUMBER)
+
+ def get_firmware_version(self) -> int:
+ """Get firmware version."""
+ self._write(Query.FIRMWARE_VERSION)
+ return self._read_int(Query.FIRMWARE_VERSION)
+
+ def get_voltage(self) -> int:
+ """Get voltage in mV."""
+ self._write(Query.VOLTAGE)
+ return self._read_int(Query.VOLTAGE)
+
+ def get_temperature(self) -> int:
+ """Get temperature in 1/10 degrees Celsius."""
+ self._write(Query.TEMPERATURE)
+ return self._read_int(Query.TEMPERATURE)
+
+ def get_current(self) -> int:
+ """Get current in mA."""
+ self._write(Query.CURRENT)
+ return self._read_int(Query.CURRENT)
+
+ def get_angular_stiffness(self, query_type: QueryType = QueryType.SESSION) -> int:
+ """Get angular stiffness."""
+ self._write(Query.ANGULAR_STIFFNESS, query_type)
+ return self._read_int(Query.ANGULAR_STIFFNESS)
+
+ def get_angular_holding_stiffness(
+ self, query_type: QueryType = QueryType.SESSION
+ ) -> int:
+ """Get angular holding stiffness."""
+ self._write(Query.ANGULAR_HOLDING_STIFFNESS, query_type)
+ return self._read_int(Query.ANGULAR_HOLDING_STIFFNESS)
+
+ def get_angular_acceleration(
+ self, query_type: QueryType = QueryType.SESSION
+ ) -> int:
+ """Get angular acceleration."""
+ self._write(Query.ANGULAR_ACCELERATION, query_type)
+ return self._read_int(Query.ANGULAR_ACCELERATION)
+
+ def get_angular_deceleration(
+ self, query_type: QueryType = QueryType.SESSION
+ ) -> int:
+ """Get angular deceleration."""
+ self._write(Query.ANGULAR_DECELERATION, query_type)
+ return self._read_int(Query.ANGULAR_DECELERATION)
+
+ def get_is_motion_control_enabled(self) -> int:
+ """Check if motion control is enabled."""
+ self._write(Query.ENABLE_MOTION_CONTROL)
+ return self._read_int(Query.ENABLE_MOTION_CONTROL)
+
+ def get_blinking_led(self) -> int:
+ """Get LED blinking configuration."""
+ self._write(Query.BLINKING_LED)
+ return self._read_int(Query.BLINKING_LED)
+
+ def set_origin_offset_deg(
+ self, degrees: float, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set origin offset in degrees.
+
+ Args:
+ degrees: Offset position in degrees
+ set_type: SESSION or CONFIG
+ """
+ pos = int(degrees * 10)
+ if set_type == SetType.SESSION:
+ self._write(Action.ORIGIN_OFFSET, pos)
+ else:
+ self._write(Config.ORIGIN_OFFSET, pos)
+
+ def set_angular_range_deg(
+ self, degrees: float, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set angular range in degrees.
+
+ Args:
+ degrees: Range in degrees
+ set_type: SESSION or CONFIG
+ """
+ delta = int(degrees * 10)
+ if set_type == SetType.SESSION:
+ self._write(Action.ANGULAR_RANGE, delta)
+ else:
+ self._write(Config.ANGULAR_RANGE, delta)
+
+ def set_max_speed_deg_per_sec(
+ self, degrees_per_sec: float, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set maximum speed in degrees per second.
+
+ Args:
+ degrees_per_sec: Speed in degrees per second
+ set_type: SESSION or CONFIG
+ """
+ speed = int(degrees_per_sec * 10)
+ if set_type == SetType.SESSION:
+ self._write(Action.MAX_SPEED, speed)
+ else:
+ self._write(Config.MAX_SPEED, speed)
+
+ def set_max_speed_rpm(self, rpm: int, set_type: SetType = SetType.SESSION) -> None:
+ """Set maximum speed in RPM.
+
+ Args:
+ rpm: Speed in RPM
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.MAX_SPEED_RPM, rpm)
+ else:
+ self._write(Config.MAX_SPEED_RPM, rpm)
+
+ def set_color_led(self, color: int, set_type: SetType = SetType.SESSION) -> None:
+ """Set LED color.
+
+ Args:
+ color: Color code (use LedColor enum)
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.COLOR_LED, color)
+ else:
+ self._write(Config.COLOR_LED, color)
+
+ def set_gyre(self, gyre: int, set_type: SetType = SetType.SESSION) -> None:
+ """Set gyre direction.
+
+ Args:
+ gyre: Direction (use GyreDirection enum)
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.GYRE_DIRECTION, gyre)
+ else:
+ self._write(Config.GYRE_DIRECTION, gyre)
+
+ def set_first_position_deg(self, degrees: float) -> None:
+ """Set first position in degrees.
+
+ Args:
+ degrees: Position in degrees
+ """
+ self._write(Config.FIRST_POSITION, int(degrees * 10))
+
+ def clear_first_position(self) -> None:
+ """Clear (disable) first position."""
+ self._write(Config.FIRST_POSITION)
+
+ def set_mode(self, mode: int) -> None:
+ """Set operating mode.
+
+ Args:
+ mode: Mode (use Mode enum)
+ """
+ self._write(Config.MODE, mode)
+
+ def set_angular_stiffness(
+ self, value: int, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set angular stiffness.
+
+ Args:
+ value: Stiffness value
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.ANGULAR_STIFFNESS, value)
+ else:
+ self._write(Config.ANGULAR_STIFFNESS, value)
+
+ def set_angular_holding_stiffness(
+ self, value: int, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set angular holding stiffness.
+
+ Args:
+ value: Holding stiffness value
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.ANGULAR_HOLDING_STIFFNESS, value)
+ else:
+ self._write(Config.ANGULAR_HOLDING_STIFFNESS, value)
+
+ def set_angular_acceleration(
+ self, value: int, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set angular acceleration.
+
+ Args:
+ value: Acceleration value
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.ANGULAR_ACCELERATION, value)
+ else:
+ self._write(Config.ANGULAR_ACCELERATION, value)
+
+ def set_angular_deceleration(
+ self, value: int, set_type: SetType = SetType.SESSION
+ ) -> None:
+ """Set angular deceleration.
+
+ Args:
+ value: Deceleration value
+ set_type: SESSION or CONFIG
+ """
+ if set_type == SetType.SESSION:
+ self._write(Action.ANGULAR_DECELERATION, value)
+ else:
+ self._write(Config.ANGULAR_DECELERATION, value)
+
+ def set_motion_control_enabled(self, value: int) -> None:
+ """Enable or disable motion control.
+
+ Args:
+ value: 1 to enable, 0 to disable
+ """
+ self._write(Action.ENABLE_MOTION_CONTROL, value)
+
+ def set_blinking_led(self, state: int) -> None:
+ """Set LED blinking configuration.
+
+ Args:
+ state: Bitmask of states to blink on
+ """
+ self._write(Config.BLINKING_LED, state)
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..02ab18c
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,31 @@
+[project]
+name = "pylss"
+version = "0.1.0"
+description = "Lynxmotion Smart Servo (LSS) Python Library"
+readme = "README.md"
+requires-python = ">=3.14"
+dependencies = [
+ "pyserial>=3.5",
+ "pytest>=9.0.2",
+]
+authors = [
+ { name = "Sebastien Parent-Charette", email = "support@robotshop.com"},
+ { name = "Sebastian Plamauer", email = "sebastian.plamauer@motius.de"}
+ ]
+license = "LGPL-3.0-or-later"
+
+[dependency-groups]
+dev = [
+ "pytest-cov>=7.0.0",
+ "ruff>=0.14.13",
+ "ty>=0.0.12",
+]
+test = [
+ "pytest>=8.0",
+]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+python_files = ["test_*.py", "*_test.py", "test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
diff --git a/src/example_configure_once.py b/src/example_configure_once.py
deleted file mode 100644
index 5bdaceb..0000000
--- a/src/example_configure_once.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: Example of all the possible configurations for a LSS.
-#
-
-# Import required liraries
-import time
-import serial
-
-# Import LSS library
-import lss
-import lss_const as lssc
-
-# Constants
-#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
-CST_LSS_Port = "COM230" # For windows platforms
-CST_LSS_Baud = lssc.LSS_DefaultBaud
-
-# Create and open a serial port
-lss.initBus(CST_LSS_Port, CST_LSS_Baud)
-
-# Create an LSS object
-myLSS = lss.LSS(0)
-
-# Uncomment any configurations that you wish to activate
-# You can see above each configuration a link to its description in the Lynxmotion wiki
-# Note: If you change a configuration to the same value that is already set,
-# the LSS will ignore the operation since the value is not changed.
-
-# *** Basic configurations ***
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H6.OriginOffsetAction28O29
-###myLSS.setOriginOffset(0)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H7.AngularRange28AR29
-###myLSS.setAngularRange(1800, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H12.MaxSpeedinDegrees28SD29
-# Set maximum speed in (1/10 deg)/s
-###myLSS.setMaxSpeed(600, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H13.MaxSpeedinRPM28SR29
-###myLSS.setMaxSpeedRPM(100, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H14.LEDColor28LED29
-# Options are:
-# LSS_LED_Black = 0
-# LSS_LED_Red = 1
-# LSS_LED_Green = 2
-# LSS_LED_Blue = 3
-# LSS_LED_Yellow = 4
-# LSS_LED_Cyan = 5
-# LSS_LED_Magenta = 6
-# LSS_LED_White = 7
-###myLSS.setColorLED(lssc.LSS_LED_Black, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H15.GyreRotationDirection28G29
-# Options are:
-# LSS_GyreClockwise = 1
-# LSS_GyreCounterClockwise = -1
-###myLSS.setGyre(lssc.LSS_GyreClockwise, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H19.FirstA0Position28Degrees29
-###myLSS.setFirstPosition(0)
-###myLSS.clearFirstPosition()
-
-# *** Advaned configurations ***
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA1.AngularStiffness28AS29
-###myLSS.setAngularStiffness(0, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA2.AngularHoldingStiffness28AH29
-###myLSS.setAngularHoldingStiffness(4, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA3:AngularAcceleration28AA29
-###myLSS.setAngularAcceleration(100, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA4:AngularDeceleration28AD29
-###myLSS.setAngularDeceleration(100, lssc.LSS_SetConfig)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA5:MotionControl28EM29
-###myLSS.setMotionControlEnabled(True)
-
-# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA6.ConfigureLEDBlinking28CLB29
-# Options are an arithmetic addition of the following values:
-# Limp 1
-# Holding 2
-# Accelerating 4
-# Decelerating 8
-# Free 16
-# Travelling 32
-# Therefore, 0 = no blinking and 63 = always blinking
-###myLSS.setBlinkingLED(0)
-
-# Reset motor to complete change of configurations
-myLSS.reset()
-
-# Wait for reboot
-time.sleep(2)
-
-while 1:
- # Loop through each of the 8 LED color (black = 0, red = 1, ..., white = 7)
- for i in range (0, 7):
- # Set the color (session) of the LSS
- myLSS.setColorLED(i)
- # Wait 1 second per color change
- time.sleep(1)
-
-### EOF #######################################################################
diff --git a/src/example_knob_mimic.py b/src/example_knob_mimic.py
deleted file mode 100644
index 9c3b3f5..0000000
--- a/src/example_knob_mimic.py
+++ /dev/null
@@ -1,60 +0,0 @@
-#
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: Moves one LSS using the position of a second LSS.
-#
-
-# Import required liraries
-import time
-import serial
-
-# Import LSS library
-import lss
-import lss_const as lssc
-
-# Constants
-#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
-CST_LSS_Port = "COM230" # For windows platforms
-CST_LSS_Baud = lssc.LSS_DefaultBaud
-
-# Create and open a serial port
-lss.initBus(CST_LSS_Port, CST_LSS_Baud)
-
-# Create two LSS object; one for output (ID=0), one for input (ID=1)
-myLSS_Output = lss.LSS(0)
-myLSS_Input = lss.LSS(1)
-
-# Initialize LSS output to position 0.0
-myLSS_Output.move(0)
-
-# Wait for it to get there
-time.sleep(2)
-
-# Lower output servo stiffness
-myLSS_Output.setAngularStiffness(4)
-myLSS_Output.setMaxSpeedRPM(15)
-
-# Make input servo limp (no active resistance)
-myLSS_Input.limp();
-
-# Reproduces position of myLSS_Input on myLSS_Output
-pos = 0
-while 1:
- # Wait ~20 ms before sending another command (update at most 50 times per second)
- time.sleep(0.02)
-
- # Get position & check if it is valid (ex: servo missing)
- lastPos = pos
- posRead = myLSS_Input.getPosition()
- if(posRead is not None):
- pos = int(posRead,10)
-
- # Check if pos changed enough to warrant sending/showing (hysterisis of ±2)
- if ((pos < (lastPos - 2)) or (pos > (lastPos + 2))):
- # Send position to output servo and terminal
- print("Input @ " + str(pos))
- myLSS_Output.move(pos)
-
-### EOF #######################################################################
diff --git a/src/example_query.py b/src/example_query.py
deleted file mode 100644
index 03a4c59..0000000
--- a/src/example_query.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: Basic example of reading values from the LSS and placing
-# them on the terminal.
-#
-
-# Import required liraries
-import time
-import serial
-
-# Import LSS library
-import lss
-import lss_const as lssc
-
-# Constants
-#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
-CST_LSS_Port = "COM230" # For windows platforms
-CST_LSS_Baud = lssc.LSS_DefaultBaud
-
-# Create and open a serial port
-lss.initBus(CST_LSS_Port, CST_LSS_Baud)
-
-# Create an LSS object
-myLSS = lss.LSS(0)
-
-while 1:
- # Get the values from LSS
- print("\r\nQuerying LSS...")
- pos = myLSS.getPosition()
- rpm= myLSS.getSpeedRPM()
- curr = myLSS.getCurrent()
- volt = myLSS.getVoltage()
- temp = myLSS.getTemperature()
-
- # Display the values in terminal
- print("\r\n---- Telemetry ----")
- print("Position (1/10 deg) = " + str(pos));
- print("Speed (rpm) = " + str(rpm));
- print("Curent (mA) = " + str(curr));
- print("Voltage (mV) = " + str(volt));
- print("Temperature (1/10 C) = " + str(temp));
-
- # Wait 1 second
- time.sleep(1)
-
-### EOF #######################################################################
diff --git a/src/example_sweep.py b/src/example_sweep.py
deleted file mode 100644
index e7a0b66..0000000
--- a/src/example_sweep.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: Basic example of the LSS moving back and forth.
-#
-
-# Import required liraries
-import time
-import serial
-
-# Import LSS library
-import lss
-import lss_const as lssc
-
-# Constants
-#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
-CST_LSS_Port = "COM230" # For windows platforms
-CST_LSS_Baud = lssc.LSS_DefaultBaud
-
-# Create and open a serial port
-lss.initBus(CST_LSS_Port, CST_LSS_Baud)
-
-# Create an LSS object
-myLSS = lss.LSS(0)
-
-# Initialize LSS to position 0.0 deg
-myLSS.move(0)
-
-# Wait for it to get there
-time.sleep(2)
-
-# Loops between -180.0 deg and 180 deg, taking 1 second pause between each half-circle move.
-while 1:
- # Send LSS to half a turn counter-clockwise from zero (assumes gyre = 1)
- myLSS.move(-1800)
-
- # Wait for two seconds
- time.sleep(2)
-
- # Send LSS to half a turn clockwise from zero (assumes gyre = 1)
- myLSS.move(1800)
-
- # Wait for two seconds
- time.sleep(2)
-
-### EOF #######################################################################
diff --git a/src/lss.py b/src/lss.py
deleted file mode 100644
index 9652ef5..0000000
--- a/src/lss.py
+++ /dev/null
@@ -1,335 +0,0 @@
-###############################################################################
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: A library that makes using the LSS simple.
-# Offers support for most Python platforms.
-# Uses the Python serial library (pySerial).
-###############################################################################
-
-### Import required liraries
-import re
-import serial
-from math import sqrt, atan, acos, fabs
-
-### Import constants
-import lss_const as lssc
-
-### Class functions
-def initBus(portName, portBaud):
- LSS.bus = serial.Serial(portName, portBaud)
- LSS.bus.timeout = 0.1
-
-def closeBus():
- if LSS.bus is not None:
- LSS.bus.close()
- del LSS.bus
-
-# Write with a an optional parameter
-def genericWrite(id, cmd, param = None):
- if LSS.bus is None:
- return False
- if param is None:
- LSS.bus.write((lssc.LSS_CommandStart + str(id) + cmd + lssc.LSS_CommandEnd).encode())
- else:
- LSS.bus.write((lssc.LSS_CommandStart + str(id) + cmd + str(param) + lssc.LSS_CommandEnd).encode())
- return True
-
-# Read an integer result
-def genericRead_Blocking_int(id, cmd):
- if LSS.bus is None:
- return None
- try:
- # Get start of packet and discard header and everything before
- c = LSS.bus.read()
- while (c.decode("utf-8") != lssc.LSS_CommandReplyStart):
- c = LSS.bus.read()
- if(c.decode("utf-8") == ""):
- break
- # Get packet
- data = LSS.bus.read_until(lssc.LSS_CommandEnd.encode('utf-8')) #Otherwise (without ".encode('utf-8')") the received LSS_CommandEnd is not recognized by read_until, making it wait until timeout.
- # Parse packet
- matches = re.match("(\d{1,3})([A-Z]{1,4})(-?\d{1,18})", data.decode("utf-8"), re.I)
- # Check if matches are found
- if(matches is None):
- return(None)
- if((matches.group(1) is None) or (matches.group(2) is None) or (matches.group(3) is None)):
- return(None)
- # Get values from match
- readID = matches.group(1)
- readIdent = matches.group(2)
- readValue = matches.group(3)
- # Check id
- if(readID != str(id)):
- return(None)
- # Check identifier
- if(readIdent != cmd):
- return(None)
- except:
- return(None)
- # return value
- return(readValue)
-
-# Read a string result
-#@classmethod
-def genericRead_Blocking_str(id, cmd, numChars):
- if LSS.bus is None:
- return None
- if LSS.bus is None:
- return None
- try:
- # Get start of packet and discard header and everything before
- c = LSS.bus.read()
- while (c.decode("utf-8") != lssc.LSS_CommandReplyStart):
- c = LSS.bus.read()
- if(c.decode("utf-8") == ""):
- break
- # Get packet
- data = LSS.bus.read_until(lssc.LSS_CommandEnd.encode('utf-8')) #Otherwise (without ".encode('utf-8')") the received LSS_CommandEnd is not recognized by read_until, making it wait until timeout.
- data = (data[:-1])
- # Parse packet
- matches = re.match("(\d{1,3})([A-Z]{1,4})(.{" + str(numChars) + "})", data.decode("utf-8"), re.I)
- # Check if matches are found
- if(matches is None):
- return(None)
- if((matches.group(1) is None) or (matches.group(2) is None) or (matches.group(3) is None)):
- return(None)
- # Get values from match
- readID = matches.group(1)
- readIdent = matches.group(2)
- readValue = matches.group(3)
- # Check id
- if(readID != str(id)):
- return(None)
- # Check identifier
- if(readIdent != cmd):
- return(None)
- except:
- return(None)
- # return value
- return(readValue)
-
-class LSS:
- # Class attribute
- bus = None
-
- ### Constructor
- def __init__(self, id = 0):
- self.servoID = id
-
- ### Attributes
- servoID = 0
-
- ### Functions
- #> Actions
- def reset(self):
- return (genericWrite(self.servoID, lssc.LSS_ActionReset))
-
- def limp(self):
- return (genericWrite(self.servoID, lssc.LSS_ActionLimp))
-
- def hold(self):
- return (genericWrite(self.servoID, lssc.LSS_ActionHold))
-
- def move(self, pos):
- return (genericWrite(self.servoID, lssc.LSS_ActionMove, pos))
-
- def moveRelative(self, delta):
- return (genericWrite(self.servoID, lssc.LSS_ActionMoveRelative, delta))
-
- def wheel(self, speed):
- return (genericWrite(self.servoID, lssc.LSS_ActionWheel, speed))
-
- def wheelRPM(self, rpm):
- return (genericWrite(self.servoID, lssc.LSS_ActionWheelRPM, rpm))
-
- #> Queries
- #def getID(self):
- #def getBaud(self):
-
- def getStatus(self):
- genericWrite(self.servoID, lssc.LSS_QueryStatus)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryStatus))
-
- def getOriginOffset(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryOriginOffset, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryOriginOffset))
-
- def getAngularRange(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryAngularRange, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryAngularRange))
-
- def getPositionPulse(self):
- genericWrite(self.servoID, lssc.LSS_QueryPositionPulse)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryPositionPulse))
-
- def getPosition(self):
- genericWrite(self.servoID, lssc.LSS_QueryPosition)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryPosition))
-
- def getSpeed(self):
- genericWrite(self.servoID, lssc.LSS_QuerySpeed)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QuerySpeed))
-
- def getSpeedRPM(self):
- genericWrite(self.servoID, lssc.LSS_QuerySpeedRPM)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QuerySpeedRPM))
-
- def getSpeedPulse(self):
- genericWrite(self.servoID, lssc.LSS_QuerySpeedPulse)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QuerySpeedPulse))
-
- def getMaxSpeed(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryMaxSpeed, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryMaxSpeed))
-
- def getMaxSpeedRPM(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryMaxSpeedRPM, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryMaxSpeedRPM))
-
- def getColorLED(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryColorLED, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryColorLED))
-
- def getGyre(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryGyre, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryGyre))
-
- # returns 0 if "DIS"
- def getFirstPosition(self):
- genericWrite(self.servoID, lssc.LSS_QueryFirstPosition)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryFirstPosition))
-
- # returns true/false based on if QFD returns "DIS" (= False)
- def getIsFirstPositionEnabled(self):
- genericWrite(self.servoID, lssc.LSS_QueryFirstPosition)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryFirstPosition) is not None)
-
- def getModel(self):
- genericWrite(self.servoID, lssc.LSS_QueryModelString)
- return (genericRead_Blocking_str(self.servoID, lssc.LSS_QueryModelString, 7))
-
- def getSerialNumber(self):
- genericWrite(self.servoID, lssc.LSS_QuerySerialNumber)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QuerySerialNumber))
-
- def getFirmwareVersion(self):
- genericWrite(self.servoID, lssc.LSS_QueryFirmwareVersion)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryFirmwareVersion))
-
- def getVoltage(self):
- genericWrite(self.servoID, lssc.LSS_QueryVoltage)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryVoltage))
-
- def getTemperature(self):
- genericWrite(self.servoID, lssc.LSS_QueryTemperature)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryTemperature))
-
- def getCurrent(self):
- genericWrite(self.servoID, lssc.LSS_QueryCurrent)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryCurrent))
-
- #> Queries (advanced)
- def getAngularStiffness(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryAngularStiffness, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryAngularStiffness))
-
- def getAngularHoldingStiffness(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryAngularHoldingStiffness, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryAngularHoldingStiffness))
-
- def getAngularAcceleration(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryAngularAcceleration, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryAngularAcceleration))
-
- def getAngularDeceleration(self, queryType = lssc.LSS_QuerySession):
- genericWrite(self.servoID, lssc.LSS_QueryAngularDeceleration, queryType)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryAngularDeceleration))
-
- def getIsMotionControlEnabled(self):
- genericWrite(self.servoID, lssc.LSS_QueryEnableMotionControl)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryEnableMotionControl))
-
- def getBlinkingLED(self):
- genericWrite(self.servoID, lssc.LSS_QueryBlinkingLED)
- return (genericRead_Blocking_int(self.servoID, lssc.LSS_QueryBlinkingLED))
-
- #> Configs
- def setOriginOffset(self, pos, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionOriginOffset, pos))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigOriginOffset, pos))
-
- def setAngularRange(self, delta, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionAngularRange, delta))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigAngularRange, delta))
-
- def setMaxSpeed(self, speed, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionMaxSpeed, speed))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigMaxSpeed, speed))
-
- def setMaxSpeedRPM(self, rpm, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionMaxSpeedRPM, rpm))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigMaxSpeedRPM, rpm))
-
- def setColorLED(self, color, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionColorLED, color))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigColorLED, color))
-
- def setGyre(self, gyre, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionGyreDirection, gyre))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigGyreDirection, gyre))
-
- def setFirstPosition(self, pos):
- return (genericWrite(self.servoID, lssc.LSS_ConfigFirstPosition, pos))
-
- def clearFirstPosition(self):
- return (genericWrite(self.servoID, lssc.LSS_ConfigFirstPosition))
-
- def setMode(self, mode):
- return (genericWrite(self.servoID, lssc.LSS_ConfigMode, mode))
-
- #> Configs (advanced)
- def setAngularStiffness(self, value, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionAngularStiffness, value))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigAngularStiffness, value))
-
- def setAngularHoldingStiffness(self, value, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionAngularHoldingStiffness, value))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigAngularHoldingStiffness, value))
-
- def setAngularAcceleration(self, value, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionAngularAcceleration, value))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigAngularAcceleration, value))
-
- def setAngularDeceleration(self, value, setType = lssc.LSS_SetSession):
- if setType == lssc.LSS_SetSession:
- return (genericWrite(self.servoID, lssc.LSS_ActionAngularDeceleration, value))
- elif setType == lssc.LSS_SetConfig:
- return (genericWrite(self.servoID, lssc.LSS_ConfigAngularDeceleration, value))
-
- def setMotionControlEnabled(self, value):
- return (genericWrite(self.servoID, lssc.LSS_ActionEnableMotionControl, value))
-
- def setBlinkingLED(self, state):
- return (genericWrite(self.servoID, lssc.LSS_ConfigBlinkingLED, state))
-
-### EOF #######################################################################
diff --git a/src/lss_const.py b/src/lss_const.py
deleted file mode 100644
index 9c15f41..0000000
--- a/src/lss_const.py
+++ /dev/null
@@ -1,172 +0,0 @@
-###############################################################################
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: A library that makes using the LSS simple.
-# Offers support for most Python platforms.
-# Uses the Python serial library (pySerial).
-###############################################################################
-
-### List of constants
-
-# Bus communication
-LSS_DefaultBaud = 115200
-LSS_MaxTotalCommandLength = (30 + 1) # ex: #999XXXX-2147483648\r Adding 1 for end string char (\0)
-# # ex: #999XX000000000000000000\r
-LSS_Timeout = 100 # in ms
-LSS_CommandStart = "#"
-LSS_CommandReplyStart = "*"
-LSS_CommandEnd = "\r"
-LSS_FirstPositionDisabled = "DIS"
-
-# LSS constants
-LSS_ID_Default = 0
-LSS_ID_Min = 0
-LSS_ID_Max = 250
-LSS_Mode255ID = 255
-LSS_BroadcastID = 254
-
-# Read/write status
-LSS_CommStatus_Idle = 0
-LSS_CommStatus_ReadSuccess = 1
-LSS_CommStatus_ReadTimeout = 2
-LSS_CommStatus_ReadWrongID = 3
-LSS_CommStatus_ReadWrongIdentifier = 4
-LSS_CommStatus_ReadWrongFormat = 5
-LSS_CommStatus_ReadNoBus = 6
-LSS_CommStatus_ReadUnknown = 7
-LSS_CommStatus_WriteSuccess = 8
-LSS_CommStatus_WriteNoBus = 9
-LSS_CommStatus_WriteUnknown = 10
-
-# LSS status
-LSS_StatusUnknown = 0
-LSS_StatusLimp = 1
-LSS_StatusFreeMoving = 2
-LSS_StatusAccelerating = 3
-LSS_StatusTravelling = 4
-LSS_StatusDecelerating = 5
-LSS_StatusHolding = 6
-LSS_StatusOutsideLimits = 7
-LSS_StatusStuck = 8 #cannot move at current speed setting
-LSS_StatusBlocked = 9 #same as stuck but reached maximum duty and still can't move
-LSS_StatusSafeMode = 10
-LSS_StatusLast = 11
-
-# LSS models
-LSS_ModelHighTorque = 0
-LSS_ModelStandard = 1
-LSS_ModelHighSpeed = 2
-LSS_ModelUnknown = 3
-
-LSS_ModelHT1 = "LSS-HT1"
-LSS_ModelST1 = "LSS-ST1"
-LSS_ModelHS1 = "LSS-HS1"
-
-# Parameter for query
-LSS_QuerySession = 0
-LSS_QueryConfig = 1
-LSS_QueryInstantaneousSpeed = 2
-LSS_QueryTargetTravelSpeed = 3
-
-# Parameter for setter
-LSS_SetSession = 0
-LSS_SetConfig = 1
-
-# Parameter for Serial/RC mode change
-LSS_ModeSerial = 0
-LSS_ModePositionRC = 1
-LSS_ModeWheelRC = 2
-
-# Parameter for gyre direction
-LSS_GyreClockwise = 1
-LSS_GyreCounterClockwise = -1
-
-# LED colors
-LSS_LED_Black = 0
-LSS_LED_Red = 1
-LSS_LED_Green = 2
-LSS_LED_Blue = 3
-LSS_LED_Yellow = 4
-LSS_LED_Cyan = 5
-LSS_LED_Magenta = 6
-LSS_LED_White = 7
-
-# Commands - actions
-LSS_ActionReset = "RESET"
-LSS_ActionLimp = "L"
-LSS_ActionHold = "H"
-LSS_ActionParameterTime = "T"
-LSS_ActionParameterSpeed = "S"
-LSS_ActionMove = "D"
-LSS_ActionMoveRelative = "MD"
-LSS_ActionWheel = "WD"
-LSS_ActionWheelRPM = "WR"
-
-# Commands - actions settings
-LSS_ActionOriginOffset = "O"
-LSS_ActionAngularRange = "AR"
-LSS_ActionMaxSpeed = "SD"
-LSS_ActionMaxSpeedRPM = "SR"
-LSS_ActionColorLED = "LED"
-LSS_ActionGyreDirection = "G"
-
-# Commands - actions advanced settings
-LSS_ActionAngularStiffness = "AS"
-LSS_ActionAngularHoldingStiffness = "AH"
-LSS_ActionAngularAcceleration = "AA"
-LSS_ActionAngularDeceleration = "AD"
-LSS_ActionEnableMotionControl = "EM"
-
-# Commands - queries
-LSS_QueryStatus = "Q"
-LSS_QueryOriginOffset = "QO"
-LSS_QueryAngularRange = "QAR"
-LSS_QueryPositionPulse = "QP"
-LSS_QueryPosition = "QD"
-LSS_QuerySpeed = "QWD"
-LSS_QuerySpeedRPM = "QWR"
-LSS_QuerySpeedPulse = "QS"
-LSS_QueryMaxSpeed = "QSD"
-LSS_QueryMaxSpeedRPM = "QSR"
-LSS_QueryColorLED = "QLED"
-LSS_QueryGyre = "QG"
-LSS_QueryID = "QID"
-LSS_QueryBaud = "QB"
-LSS_QueryFirstPosition = "QFD"
-LSS_QueryModelString = "QMS"
-LSS_QuerySerialNumber = "QN"
-LSS_QueryFirmwareVersion = "QF"
-LSS_QueryVoltage = "QV"
-LSS_QueryTemperature = "QT"
-LSS_QueryCurrent = "QC"
-
-# Commands - queries advanced
-LSS_QueryAngularStiffness = "QAS"
-LSS_QueryAngularHoldingStiffness = "QAH"
-LSS_QueryAngularAcceleration = "QAA"
-LSS_QueryAngularDeceleration = "QAD"
-LSS_QueryEnableMotionControl = "QEM"
-LSS_QueryBlinkingLED = "QLB"
-
-# Commands - configurations
-LSS_ConfigID = "CID"
-LSS_ConfigBaud = "CB"
-LSS_ConfigOriginOffset = "CO"
-LSS_ConfigAngularRange = "CAR"
-LSS_ConfigMaxSpeed = "CSD"
-LSS_ConfigMaxSpeedRPM = "CSR"
-LSS_ConfigColorLED = "CLED"
-LSS_ConfigGyreDirection = "CG"
-LSS_ConfigFirstPosition = "CFD"
-LSS_ConfigMode = "CRC"
-
-# Commands - configurations advanced
-LSS_ConfigAngularStiffness = "CAS"
-LSS_ConfigAngularHoldingStiffness = "CAH"
-LSS_ConfigAngularAcceleration = "CAA"
-LSS_ConfigAngularDeceleration = "CAD"
-LSS_ConfigBlinkingLED = "CLB"
-
-### EOF #######################################################################
diff --git a/src/test.py b/src/test.py
deleted file mode 100644
index 199aa96..0000000
--- a/src/test.py
+++ /dev/null
@@ -1,46 +0,0 @@
-###############################################################################
-# Author: Sebastien Parent-Charette (support@robotshop.com)
-# Version: 1.0.0
-# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
-#
-# Desscription: An example using the LSS and the Python module.
-###############################################################################
-
-# Import required liraries
-import time
-import serial
-
-# Import LSS library
-import lss
-import lss_const as lssc
-
-# Constants
-#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
-CST_LSS_Port = "COM230" # For windows platforms
-CST_LSS_Baud = lssc.LSS_DefaultBaud
-
-# Create and open a serial port
-lss.initBus(CST_LSS_Port, CST_LSS_Baud)
-
-# Create LSS objects
-myLSS1 = lss.LSS(0)
-myLSS2 = lss.LSS(1)
-
-#myLSS1.move(-300)
-#myLSS2.move(300)
-
-print("myLSS1; position = " + str(myLSS1.getPosition()))
-print("myLSS2; position = " + str(myLSS2.getPosition()))
-print("myLSS1; model = " + str(myLSS1.getModel()))
-
-#myLSS1.reset()
-#myLSS2.reset()
-
-# Destroy objects
-del myLSS1
-del myLSS2
-
-# Destroy the bus
-lss.closeBus()
-
-### EOF #######################################################################
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000..030cb5c
--- /dev/null
+++ b/tests/__init__.py
@@ -0,0 +1 @@
+# Tests for pylss library
diff --git a/tests/test.py b/tests/test.py
new file mode 100644
index 0000000..0930b3f
--- /dev/null
+++ b/tests/test.py
@@ -0,0 +1,618 @@
+# Author: Sebastian Plamauer
+# License: LGPL-3.0 (GNU Lesser General Public License version 3)
+
+import pytest
+from unittest.mock import Mock
+from pylss.lss import LSS
+from pylss.constants import (
+ Action,
+ Query,
+ QueryType,
+ SetType,
+)
+
+
+class TestLSSCommandGeneration:
+ """Test that commands are properly formatted."""
+
+ def test_write_command_without_parameter(self):
+ """Test command format without parameter."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss._write(Action.RESET)
+
+ mock_bus.write.assert_called_once_with(b"#5RESET\r")
+
+ def test_write_command_with_integer_parameter(self):
+ """Test command format with integer parameter."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(10, mock_bus)
+
+ lss._write(Action.MOVE, 1500)
+
+ mock_bus.write.assert_called_once_with(b"#10D1500\r")
+
+ def test_write_command_with_negative_parameter(self):
+ """Test command format with negative parameter."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(2, mock_bus)
+
+ lss._write(Action.MOVE, -450)
+
+ mock_bus.write.assert_called_once_with(b"#2D-450\r")
+
+ def test_write_raises_when_bus_not_open(self):
+ """Test that writing raises exception when bus is not open."""
+ mock_bus = Mock()
+ mock_bus.is_open = False
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Serial bus is not available or not open"):
+ lss._write(Action.RESET)
+
+ def test_write_raises_when_bus_is_none(self):
+ """Test that writing raises exception when bus is None."""
+ mock_bus = None
+ lss = LSS(5, mock_bus) # type: ignore
+
+ with pytest.raises(Exception, match="Serial bus is not available or not open"):
+ lss._write(Action.RESET)
+
+
+class TestLSSResponseParsing:
+ """Test response parsing from servo."""
+
+ def test_read_int_valid_response(self):
+ """Test reading valid integer response."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ # Simulate response: *5QD1234\r
+ mock_bus.read.side_effect = [b"*", b"*"] # First read finds start marker
+ mock_bus.read_until.return_value = b"5QD1234\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss._read_int(Query.POSITION)
+
+ assert result == 1234
+
+ def test_read_int_negative_value(self):
+ """Test reading negative integer response."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"3QD-900\r"
+
+ lss = LSS(3, mock_bus)
+ result = lss._read_int(Query.POSITION)
+
+ assert result == -900
+
+ def test_read_int_wrong_servo_id(self):
+ """Test error when response has wrong servo ID."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"7QD1234\r" # Wrong ID
+
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Response from wrong servo ID"):
+ lss._read_int(Query.POSITION)
+
+ def test_read_int_wrong_command(self):
+ """Test error when response has wrong command identifier."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QV1234\r" # Wrong command
+
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Response command mismatch"):
+ lss._read_int(Query.POSITION)
+
+ def test_read_int_malformed_response(self):
+ """Test error on malformed response."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"INVALID\r"
+
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Malformed response"):
+ lss._read_int(Query.POSITION)
+
+ def test_read_int_timeout(self):
+ """Test timeout when waiting for response."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"", b""] # Empty reads simulate timeout
+
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Timeout waiting for response"):
+ lss._read_int(Query.POSITION)
+
+ def test_read_str_valid_response(self):
+ """Test reading valid string response."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QMSLSS-ST1\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss._read_str(Query.MODEL_STRING, 7)
+
+ assert result == "LSS-ST1"
+
+ def test_read_raises_when_bus_not_open(self):
+ """Test that reading raises exception when bus is not open."""
+ mock_bus = Mock()
+ mock_bus.is_open = False
+ lss = LSS(5, mock_bus)
+
+ with pytest.raises(Exception, match="Serial bus is not available or not open"):
+ lss._read_int(Query.POSITION)
+
+
+class TestLSSActionMethods:
+ """Test action methods that send commands."""
+
+ def test_reset(self):
+ """Test reset command."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(1, mock_bus)
+
+ lss.reset()
+
+ mock_bus.write.assert_called_once_with(b"#1RESET\r")
+
+ def test_limp(self):
+ """Test limp command."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(2, mock_bus)
+
+ lss.limp()
+
+ mock_bus.write.assert_called_once_with(b"#2L\r")
+
+ def test_hold(self):
+ """Test hold command."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(3, mock_bus)
+
+ lss.hold()
+
+ mock_bus.write.assert_called_once_with(b"#3H\r")
+
+ def test_move_deg(self):
+ """Test move_deg converts degrees to tenths."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_deg(45.5)
+
+ mock_bus.write.assert_called_once_with(b"#5D455\r")
+
+ def test_move_deg_negative(self):
+ """Test move_deg with negative degrees."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_deg(-90.3)
+
+ mock_bus.write.assert_called_once_with(b"#5D-903\r")
+
+ def test_move_relative_deg(self):
+ """Test move_relative_deg converts degrees to tenths."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_relative_deg(10.5)
+
+ mock_bus.write.assert_called_once_with(b"#5MD105\r")
+
+ def test_wheel_deg_per_sec(self):
+ """Test wheel_deg_per_sec converts to tenths."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.wheel_deg_per_sec(30.0)
+
+ mock_bus.write.assert_called_once_with(b"#5WD300\r")
+
+ def test_wheel_rpm(self):
+ """Test wheel_rpm."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.wheel_rpm(60)
+
+ mock_bus.write.assert_called_once_with(b"#5WR60\r")
+
+
+class TestLSSQueryMethods:
+ """Test query methods that read responses."""
+
+ def test_get_position_deg(self):
+ """Test get_position_deg converts tenths to degrees."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QD455\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_position_deg()
+
+ assert result == 45.5
+ mock_bus.write.assert_called_once_with(b"#5QD\r")
+
+ def test_get_position_pulse(self):
+ """Test get_position_pulse returns raw pulse value."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QP12345\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_position_pulse()
+
+ assert result == 12345
+
+ def test_get_status(self):
+ """Test get_status."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5Q6\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_status()
+
+ assert result == 6 # HOLDING
+
+ def test_get_voltage(self):
+ """Test get_voltage."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QV12000\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_voltage()
+
+ assert result == 12000 # 12V in mV
+
+ def test_get_temperature(self):
+ """Test get_temperature."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QT250\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_temperature()
+
+ assert result == 250 # 25.0°C
+
+ def test_get_current(self):
+ """Test get_current."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QC500\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_current()
+
+ assert result == 500 # 500mA
+
+ def test_get_model(self):
+ """Test get_model returns string."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QMSLSS-HT1\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_model()
+
+ assert result == "LSS-HT1"
+
+ def test_get_serial_number(self):
+ """Test get_serial_number."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QN123456\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_serial_number()
+
+ assert result == 123456
+
+ def test_get_firmware_version(self):
+ """Test get_firmware_version."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QF368\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_firmware_version()
+
+ assert result == 368
+
+ def test_get_speed_deg_per_sec(self):
+ """Test get_speed_deg_per_sec converts tenths to degrees."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QWD300\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_speed_deg_per_sec()
+
+ assert result == 30.0
+
+ def test_get_speed_rpm(self):
+ """Test get_speed_rpm."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QWR60\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_speed_rpm()
+
+ assert result == 60
+
+ def test_get_origin_offset_deg_with_query_type(self):
+ """Test get_origin_offset_deg with SESSION query type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QO50\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_origin_offset_deg(QueryType.SESSION)
+
+ assert result == 5.0
+ mock_bus.write.assert_called_once_with(b"#5QO0\r")
+
+ def test_get_angular_range_deg_config(self):
+ """Test get_angular_range_deg with CONFIG query type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ mock_bus.read.side_effect = [b"*"]
+ mock_bus.read_until.return_value = b"5QAR1800\r"
+
+ lss = LSS(5, mock_bus)
+ result = lss.get_angular_range_deg(QueryType.CONFIG)
+
+ assert result == 180.0
+ mock_bus.write.assert_called_once_with(b"#5QAR1\r")
+
+
+class TestLSSConfigurationMethods:
+ """Test configuration setter methods."""
+
+ def test_set_origin_offset_deg_session(self):
+ """Test set_origin_offset_deg with SESSION type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_origin_offset_deg(5.0, SetType.SESSION)
+
+ mock_bus.write.assert_called_once_with(b"#5O50\r")
+
+ def test_set_origin_offset_deg_config(self):
+ """Test set_origin_offset_deg with CONFIG type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_origin_offset_deg(5.0, SetType.CONFIG)
+
+ mock_bus.write.assert_called_once_with(b"#5CO50\r")
+
+ def test_set_max_speed_deg_per_sec_session(self):
+ """Test set_max_speed_deg_per_sec with SESSION type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_max_speed_deg_per_sec(90.0, SetType.SESSION)
+
+ mock_bus.write.assert_called_once_with(b"#5SD900\r")
+
+ def test_set_max_speed_rpm_config(self):
+ """Test set_max_speed_rpm with CONFIG type."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_max_speed_rpm(30, SetType.CONFIG)
+
+ mock_bus.write.assert_called_once_with(b"#5CSR30\r")
+
+ def test_set_color_led(self):
+ """Test set_color_led."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_color_led(3) # BLUE
+
+ mock_bus.write.assert_called_once_with(b"#5LED3\r")
+
+ def test_set_gyre(self):
+ """Test set_gyre."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_gyre(-1, SetType.SESSION) # COUNTER_CLOCKWISE
+
+ mock_bus.write.assert_called_once_with(b"#5G-1\r")
+
+ def test_set_first_position_deg(self):
+ """Test set_first_position_deg."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_first_position_deg(0.0)
+
+ mock_bus.write.assert_called_once_with(b"#5CFD0\r")
+
+ def test_clear_first_position(self):
+ """Test clear_first_position."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.clear_first_position()
+
+ mock_bus.write.assert_called_once_with(b"#5CFD\r")
+
+ def test_set_angular_stiffness(self):
+ """Test set_angular_stiffness."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_angular_stiffness(4, SetType.SESSION)
+
+ mock_bus.write.assert_called_once_with(b"#5AS4\r")
+
+ def test_set_motion_control_enabled(self):
+ """Test set_motion_control_enabled."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.set_motion_control_enabled(1)
+
+ mock_bus.write.assert_called_once_with(b"#5EM1\r")
+
+
+class TestLSSEdgeCases:
+ """Test edge cases and boundary conditions."""
+
+ def test_servo_id_zero(self):
+ """Test with servo ID 0."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(0, mock_bus)
+
+ lss.reset()
+
+ mock_bus.write.assert_called_once_with(b"#0RESET\r")
+
+ def test_servo_id_max(self):
+ """Test with maximum servo ID 254."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(254, mock_bus)
+
+ lss.reset()
+
+ mock_bus.write.assert_called_once_with(b"#254RESET\r")
+
+ def test_large_position_value(self):
+ """Test with large position values."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_deg(1800.0) # 180 degrees * 10
+
+ mock_bus.write.assert_called_once_with(b"#5D18000\r")
+
+ def test_negative_position_value(self):
+ """Test with negative position values."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_deg(-1800.0)
+
+ mock_bus.write.assert_called_once_with(b"#5D-18000\r")
+
+ def test_fractional_degrees_rounding(self):
+ """Test that fractional degrees are properly converted."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.move_deg(12.34)
+
+ # 12.34 * 10 = 123.4, int() truncates to 123
+ mock_bus.write.assert_called_once_with(b"#5D123\r")
+
+
+class TestLSSObjectLifecycle:
+ """Test object initialization and cleanup."""
+
+ def test_init_sets_servo_id(self):
+ """Test that __init__ sets servo_id correctly."""
+ mock_bus = Mock()
+ lss = LSS(42, mock_bus)
+
+ assert lss.servo_id == 42
+
+ def test_init_sets_bus(self):
+ """Test that __init__ sets bus correctly."""
+ mock_bus = Mock()
+ lss = LSS(5, mock_bus)
+
+ assert lss.bus is mock_bus
+
+ def test_init_sets_timeout(self):
+ """Test that __init__ sets bus timeout."""
+ mock_bus = Mock()
+ LSS(5, mock_bus)
+
+ assert mock_bus.timeout == 100 # TIMEOUT_MS
+
+ def test_del_closes_open_bus(self):
+ """Test that __del__ closes an open bus."""
+ mock_bus = Mock()
+ mock_bus.is_open = True
+ lss = LSS(5, mock_bus)
+
+ lss.__del__()
+
+ mock_bus.close.assert_called_once()
+
+ def test_del_skips_closed_bus(self):
+ """Test that __del__ doesn't close already closed bus."""
+ mock_bus = Mock()
+ mock_bus.is_open = False
+ lss = LSS(5, mock_bus)
+
+ lss.__del__()
+
+ mock_bus.close.assert_not_called()
+
+ def test_del_handles_none_bus(self):
+ """Test that __del__ handles None bus gracefully."""
+ lss = LSS(5, None) # type: ignore
+
+ # Should not raise exception
+ lss.__del__()
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