API reference¶
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class
maestro.Maestro(dev: usb.core.Device, timeout=5000)¶ A Maestro servo controller.
You shouldn’t instantiate this class directly. Instead you should use one of the following class methods:
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property
channel_count¶ The number of available channels on this servo controller.
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classmethod
for_device(dev: usb.core.Device, **kwargs) → maestro.Maestro¶ Returns a Maestro instance for the given pyusb Device.
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classmethod
get_all() → Iterable[maestro.Maestro]¶ Returns an iterator over all connected Maestro devices.
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classmethod
get_by_serial_number(serial_number)¶ Get a currently-connected Maestro device by its serial number.
- Raises
maestro.exceptions.NoMaestroAvailable – if no Maestro is available.
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classmethod
get_one() → maestro.Maestro¶ Get a currently-connected Maestro device.
If more than one is connected, it is undefined as to which device is returned.
- Raises
maestro.exceptions.NoMaestroAvailable – if no Maestro is available.
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property
serial_number¶ The self-reported serial number for this device.
You may use this later as an argument to
Maestro.get_by_serial_number()to ensure you connect to the same device again, in the case where multiple Maestro devices are connected.
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property
Channels¶
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class
maestro.channel.Channel(maestro: maestro.Maestro, index: int, mode: ChannelMode)¶ A channel on a Maestro servo controller.
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property
mode¶ The mode of this channel.
- Type
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property
neutral¶ This option specifies the target value, in microseconds, that corresponds to 127 (neutral) for 8-bit commands.
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property
position¶ Where the servo controller believes this servo to be currently positioned.
Note that this is where the servo is currently being told to be, which will not necessarily be the target if speed and/or acceleration are non-zero.
The position is specified in milliseconds (ms).
- Type
int
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property
target¶ The current target position, in ms.
- Type
int
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property
value¶ The value read by this input, in the range [0, 1023].
The inputs on channels 0–11 are analogue: their values range from 0 to 1023, representing voltages from 0 to Vcc V. The inputs on channels 12–23 are digital: their values are either exactly 0 or exactly 1023.
- Type
int
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property
Enums¶
These are used as parameters and return values for various methods.
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class
maestro.enums.ChannelMode(value)¶ Channel mode.
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Servo= 0¶ The channel is a servo.
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ServoMultiplied= 1¶ This value is defined within the Maestro Control Centre, but unused.
It is not recommended to use this channel mode, as its purpose is unclear.
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Output= 2¶ The channel is an output.
Output channels are controlled with a value in the range [0, 1023], which maps onto the range [0, Vcc] volts.
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Input= 3¶ The channel is an input.
The value is in the range [0, 1), corresponding to the input voltage range [0, Vcc] volts.
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class
maestro.enums.USCParameter(value)¶ Constants for getting and setting Maestro parameters.
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Initialized= 0¶
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ServosAvailable= 1¶
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ServoPeriod= 2¶
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SerialMode= 3¶
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SerialTimeout= 6¶
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ChannelModes0To3= 12¶
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ChannelModes4To7= 13¶
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ChannelModes8To11= 14¶
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ChannelModes12To15= 15¶
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ChannelModes16To19= 16¶
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ChannelModes20To23= 17¶
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ServoMultiplier= 26¶
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ServoHomeBase= 30¶
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ServoMinBase= 32¶
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ServoMaxBase= 33¶
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ServoNeutralBase= 34¶
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ServoRangeBase= 36¶
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ServoSpeedBase= 37¶
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ServoAccelerationBase= 38¶
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class
maestro.enums.Request(value)¶ Constants for Maestro USB control requests.
See The Maestro USB control protocol for more details about control requests.
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GetRawParameter= 129¶
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SetRawParameter= 130¶
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GetVariablesMicroMaestro= 131¶
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SetServoVariable= 132¶
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SetTarget= 133¶
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ClearErrors= 134¶
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GetVariablesMiniMaestro= 135¶
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GetStack= 136¶
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GetCallStack= 137¶
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SetPWM= 138¶
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Reinitialize= 144¶
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EraseScript= 160¶
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WriteScript= 161¶
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SetScriptDone= 162¶
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RestartScriptAtSubroutine= 163¶
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RestartScriptAtSubroutineWithParameter= 164¶
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RestartScript= 165¶
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StartBootloader= 255¶
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