A communication protocol for actuators with a simple to use library for control. It's easily expandable for custom actuator control.

Here's a basic example for controlling an FOC controller:

import time

from open_actuator import ACBv2, USBInterface

port = "/dev/ttyACM0"  # Change this to your port (e.g., "COM3" on Windows)
baudrate = 2000000

usb_interface = USBInterface(port, baudrate)
actuator = ACBv2(usb_interface)

actuator.connect()

actuator.recalibrate_sensors()

actuator.set_velocity(1000) # 1e3 deg/s
    
time.sleep(10)

actuator.disconnect()

• Python 3.8 or higher
• USB serial device drivers (if needed for your operating system)

1. Clone the repository:

git clone [<repository-url>](https://github.com/h-laboratories/open-actuator.git)
cd open-actuator

2. Install dependencies:

pip install -r requirements.txt

3. Install the package:

pip install -e .

1. Connect your actuator to a USB port
2. Run the GUI application:

python -m open_actuator.main

3. Select your USB port and click "Connect"
4. Use the controls to operate your actuator

The main GUI provides the following features:

• Connection Panel: Select USB port, baud rate, and communication mode
• Position Control: Set target position with slider and numeric input
• Velocity Control: Set target velocity with slider and numeric input
• Torque Control: Set torque limits with slider and numeric input
• Actuator Commands: Enable/disable, home, and stop controls
• Real-time Monitoring: Live display of current position, velocity, and torque
• Communication Log: Detailed log of all commands and responses

You can also run the application with command-line arguments:

python -m open_actuator.main --port /dev/ttyUSB0 --baudrate 115200 --mode human

The software supports three communication modes:

1. Human Readable (default): String-based commands like set_position 10.0
2. High Speed Binary: Binary protocol for faster communication
3. SimpleFOC: SimpleFOC motor control protocol

The software supports the following actuator commands:

The following table describes the variable types used in the commands:

• Ensure the actuator is properly connected via USB
• Check that the correct port is selected
• Verify the baud rate matches your actuator's configuration
• Try different USB ports or cables
• Flip USB C around (sometimes oneside in certain cables doesn't attach to USB 2)

• Make sure all dependencies are installed: pip install -r requirements.txt
• Check that your Python version is 3.8 or higher
• On Linux, you may need to install tkinter: sudo apt-get install python3-tk

This project is licensed under the MIT License - see the LICENSE file for details.

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Add tests if applicable
5. Submit a pull request

For issues and questions, please create an issue in the repository or contact the maintainers.