SmartServoFramework | drive Dynamixel and HerkuleX smart actuators

SmartServoFramework is a C++ library typically used in Internet of Things (IoT), Raspberry Pi, Arduino applications. SmartServoFramework has no bugs, it has no vulnerabilities, it has a Weak Copyleft License and it has low support. You can download it from GitHub.

SmartServoFramework is a C++ multi-platform framework used to drive "smart servo" devices like Dynamixel or HerkuleX actuators. It has been developed at Inria Grenoble research center. Linux (and most Unix systems), macOS and Windows operating systems are supported. All you need to begin moving stuff around is at least one servo, a serial port adapter and a modern C++ compiler! SmartServoFramework works well on Raspberry Pi or other embedded boards, but will not work on Arduinos nor any other microcontrollers. This framework can be used with any Dynamixel or HerkuleX devices. We support all models of HerkuleX from the DRS-0101 up to the DRS-0602. For Dynamixel that means AX, EX, MX, XL-320, X series, as well as the older RX and DX series. We even have support for the AX-S1 and IR sensor array! Please note that the Dynamixel PRO devices should work (the version 2 of the communication protocol is implemented, and works great with X serie), but they are considered as experimental since we couldn’t test with any real device. Support for other devices, brands or protocols may be added in the futur…​. We provide two different APIs: * Simple API: Use this API to easily get/set values to your servos by sending simple synchronous instructions, then waiting for the answers! * Managed API: Setup a controller and attach servo instances to it. Manipulate servo objects and let the controller synchronize its "virtual" register values with the real servo hardware in a background thread with a fixed frequency. Beware: this API is more complex to master, and not entirely stable ;-).