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This is source code from official feetech repository.

Structure

root dirrectory
     |---scservo_sdk 
     |---sms_sts
     |---scscl
     |---hls
     |---imu

The 'scscl' 'sms_sts' 'hls' 'imu' directories contain examples of using the library.

The source code of the library is located in the scservo_sdk directory.

The 'scsservo_sdk' directory contains the original archive with the source code of the library from the developer.

Usage

Tested on Linux Raspbian GNU/Linux 9.13 (stretch). Python version Python 3.5.3

Method 1. Clone repositry

$ cd /usr/src/
$ sudo git clone https://github.com/ftservo/FTServo_Python.git
$ sudo chown -R pi FTServo_Python
$ cd FTServo_Python/sms_sts
$ python3 ping.py
Succeeded to open the port
Succeeded to change the baudrate
[ID:001] ping Succeeded. SCServo model number : 1540

Method 2. Install pip package

Copy the sample file to any location convenient for you. In the example I use '/home/pi/FeetechTestFiles'

$ pip install ftservo-python-sdk
$ cd /home/pi/FeetechTestFiles/sms_sts
$ python3 ping.py
Succeeded to open the port
Succeeded to change the baudrate
[ID:001] ping Succeeded. SCServo model number : 1540

IMU Examples

1. Environment

# Use the system Python (3.12.10 in this example), not the uv managed interpreter
python -m pip install pyserial
python -c "import serial, matplotlib, numpy; print('deps ok')"

2. IMU examples

File	Purpose	Defaults
imu/read_slfp.py	Read the SLFP quaternion QX/QY/QZ (half float) and compute QW	/dev/ttyUSB0 / ID 200 / 50 Hz
imu/read_gyro.py	Read the 3-axis angular rate (raw + signed)	/dev/ttyUSB0 / ID 200 / 50 Hz
imu/read_acc.py	Read the 3-axis acceleration (raw + signed)	/dev/ttyUSB0 / ID 200 / 50 Hz
imu/sync_read.py	One sync-read packet of 15 bytes covering HLS servo + IMU	/dev/ttyUSB0 / IMU ID 200 + HLS ID 10, 11
imu/slfp_viewer.py	3D attitude viewer (cube + 3 axes + euler curves)	/dev/ttyUSB0 / ID 200 / 50 Hz

/dev/ttyUSB0 is the Linux default; on Windows change it to COMx.

3. Run

# console output
python imu/read_slfp.py
python imu/read_gyro.py
python imu/read_acc.py
python imu/sync_read.py

# 3D attitude viewer
python imu/slfp_viewer.py --demo             # simulated attitude, no hardware
python imu/slfp_viewer.py                    # real device, /dev/ttyUSB0 / ID 200
python imu/slfp_viewer.py --port COM7 --id 200
python imu/slfp_viewer.py --zero-on-start    # capture the attitude 1 s after start as zero

Typical output of read_slfp.py (50 lines per second; QX is the raw 16-bit value, the number in brackets is the S1E5F10 decoded float):

Succeeded to open the port
Succeeded to change the baudrate
[ID:200] QX:12345(0.123456) QY:... QZ:... QW:0.987654

4. 3D viewer controls

• Drag with the mouse to orbit, scroll to zoom;
• The cube follows the quaternion, the red/green/blue axes are the body X/Y/Z;
• Top right: 6 s rolling window of roll / pitch / yaw. Bottom right: quaternion, euler angles and status;
• Press z to use the current attitude as the new zero (click the plot area first to give the window focus);
• Closing the window stops the reader thread and releases the port; Ctrl+C is also handled through finally.