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‎.gitignore‎

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# Ignore all release packages
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*.zip
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*.rar
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# Ignore all automation
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*.bat

‎README.md‎

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# LSS_Libraries_Python
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Official Lynxmotion Smart Servo (LSS) libraries for Python
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Read more about the LSS on our [wiki](https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/).
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If you want more details about the LSS protocol, go [here](https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/).
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To configure your LSS easily, we recommend you try out the [LSS Config](https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html). More details about it [on the wiki](https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-configuration-software/).
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Purchase any LSS model on [RobotShop.com](https://www.robotshop.com/en/lynxmotion-smart-servos.html) and get [accessories](https://www.robotshop.com/en/lynxmotion-servos-accessories-1.html), too!
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Check out blogs, tutorials and post questions on the Robotshop [community site](https://www.robotshop.com/community/).

‎extras/LICENSE‎

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GNU LESSER GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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This version of the GNU Lesser General Public License incorporates
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the terms and conditions of version 3 of the GNU General Public
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License, supplemented by the additional permissions listed below.
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0. Additional Definitions.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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The "Minimal Corresponding Source" for a Combined Work means the
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The "Corresponding Application Code" for a Combined Work means the
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You may convey a covered work under sections 3 and 4 of this License
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6. Revised Versions of the GNU Lesser General Public License.
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‎extras/README.html‎

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<body>
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<html>
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<center>
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<header>
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<h1>
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# LSS_Libraries_Python
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</h1>
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Official Lynxmotion Smart Servo (LSS) libraries for Python
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</header>
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<br />
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<p>
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Read more about the LSS on our <a href="https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/">wiki</a>
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</p><p>
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If you want more details about the LSS protocol, go <a href="https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/">here</a>.
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</p><p>
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To configure your LSS easily, we recommend you try out the <a href="https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html">LSS Config</a>. More details about it <a href="https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-configuration-software/">on the wiki</a>.
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</p><p>
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Purchase any LSS model on <a href="https://www.robotshop.com/en/lynxmotion-smart-servos.html">RobotShop.com</a> and get <a href="https://www.robotshop.com/en/lynxmotion-servos-accessories-1.html">accessories</a>, too!
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</p><p>
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Check out blogs, tutorials and post questions on the Robotshop <a href="https://www.robotshop.com/community/">community site</a>.
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</p>
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</center>
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</html>
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</body>

‎src/example_configure_once.py‎

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#
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# Author: Sebastien Parent-Charette (support@robotshop.com)
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# Version: 1.0.0
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# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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#
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# Desscription: Example of all the possible configurations for a LSS.
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#
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# Import required liraries
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import time
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import serial
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# Import LSS library
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import lss
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import lss_const as lssc
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# Constants
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#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
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CST_LSS_Port = "COM230" # For windows platforms
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CST_LSS_Baud = lssc.LSS_DefaultBaud
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# Create and open a serial port
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lss.initBus(CST_LSS_Port, CST_LSS_Baud)
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# Create an LSS object
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myLSS = lss.LSS(0)
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# Uncomment any configurations that you wish to activate
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# You can see above each configuration a link to its description in the Lynxmotion wiki
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# Note: If you change a configuration to the same value that is already set,
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# the LSS will ignore the operation since the value is not changed.
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# *** Basic configurations ***
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H6.OriginOffsetAction28O29
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###myLSS.setOriginOffset(0)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H7.AngularRange28AR29
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###myLSS.setAngularRange(1800, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H12.MaxSpeedinDegrees28SD29
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# Set maximum speed in (1/10 deg)/s
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###myLSS.setMaxSpeed(600, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H13.MaxSpeedinRPM28SR29
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###myLSS.setMaxSpeedRPM(100, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H14.LEDColor28LED29
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# Options are:
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# LSS_LED_Black = 0
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# LSS_LED_Red = 1
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# LSS_LED_Green = 2
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# LSS_LED_Blue = 3
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# LSS_LED_Yellow = 4
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# LSS_LED_Cyan = 5
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# LSS_LED_Magenta = 6
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# LSS_LED_White = 7
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###myLSS.setColorLED(lssc.LSS_LED_Black, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H15.GyreRotationDirection28G29
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# Options are:
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# LSS_GyreClockwise = 1
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# LSS_GyreCounterClockwise = -1
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###myLSS.setGyre(lssc.LSS_GyreClockwise, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H19.FirstA0Position28Degrees29
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###myLSS.setFirstPosition(0)
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###myLSS.clearFirstPosition()
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# *** Advaned configurations ***
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA1.AngularStiffness28AS29
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###myLSS.setAngularStiffness(0, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA2.AngularHoldingStiffness28AH29
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###myLSS.setAngularHoldingStiffness(4, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA3:AngularAcceleration28AA29
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###myLSS.setAngularAcceleration(100, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA4:AngularDeceleration28AD29
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###myLSS.setAngularDeceleration(100, lssc.LSS_SetConfig)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA5:MotionControl28EM29
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###myLSS.setMotionControlEnabled(True)
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# https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA6.ConfigureLEDBlinking28CLB29
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# Options are an arithmetic addition of the following values:
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# Limp 1
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# Holding 2
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# Accelerating 4
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# Decelerating 8
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# Free 16
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# Travelling 32
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# Therefore, 0 = no blinking and 63 = always blinking
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###myLSS.setBlinkingLED(0)
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# Reset motor to complete change of configurations
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myLSS.reset()
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# Wait for reboot
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time.sleep(2)
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while 1:
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# Loop through each of the 8 LED color (black = 0, red = 1, ..., white = 7)
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for i in range (0, 7):
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# Set the color (session) of the LSS
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myLSS.setColorLED(i)
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# Wait 1 second per color change
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time.sleep(1)
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### EOF #######################################################################

‎src/example_knob_mimic.py‎

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#
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# Author: Sebastien Parent-Charette (support@robotshop.com)
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# Version: 1.0.0
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# Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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#
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# Desscription: Moves one LSS using the position of a second LSS.
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#
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# Import required liraries
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import time
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import serial
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# Import LSS library
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import lss
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import lss_const as lssc
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# Constants
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#CST_LSS_Port = "/dev/ttyUSB0" # For Linux/Unix platforms
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CST_LSS_Port = "COM230" # For windows platforms
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CST_LSS_Baud = lssc.LSS_DefaultBaud
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# Create and open a serial port
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lss.initBus(CST_LSS_Port, CST_LSS_Baud)
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# Create two LSS object; one for output (ID=0), one for input (ID=1)
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myLSS_Output = lss.LSS(0)
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myLSS_Input = lss.LSS(1)
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# Initialize LSS output to position 0.0
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myLSS_Output.move(0)
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# Wait for it to get there
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time.sleep(2)
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# Lower output servo stiffness
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myLSS_Output.setAngularStiffness(4)
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myLSS_Output.setMaxSpeedRPM(15)
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# Make input servo limp (no active resistance)
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myLSS_Input.limp();
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# Reproduces position of myLSS_Input on myLSS_Output
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pos = 0
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while 1:
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# Wait ~20 ms before sending another command (update at most 50 times per second)
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time.sleep(0.02)
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# Get position & check if it is valid (ex: servo missing)
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lastPos = pos
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posRead = myLSS_Input.getPosition()
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if(posRead is not None):
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pos = int(posRead,10)
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# Check if pos changed enough to warrant sending/showing (hysterisis of ±2)
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if ((pos < (lastPos - 2)) or (pos > (lastPos + 2))):
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# Send position to output servo and terminal
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print("Input @ " + str(pos))
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myLSS_Output.move(pos)
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### EOF #######################################################################

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