This is a fork of the official Dynamixel SDK that adds WebSocket support, enabling wireless control of Dynamixel servos.

This fork adds support for using a WebSocket client as a port in place of a serial port. This makes it possible to wirelessly control your robot!

It requires the servos to be connected over half-duplex serial to a WiFi-enabled microcontroller (e.g. ESP32) that uses a WebSocket server to relay the comms to and from connected motors. The RobotStack Smart Servo Add-On Board is a ready-to-use solution that provides this functionality.

root directory
     |---python/
          |---src/
               |---dynamixelSDK_websockets/
          |---tests/
               |---protocol1_0/
               |---protocol2_0/
          |---additional-examples/

The source code of the library is located in the python/src/dynamixelSDK_websockets directory.

The tests directory contains examples of using the library with different protocols.

The additional-examples directory contains examples demonstrating additional features:

• send_text.py: Shows how to send text messages to the server
• ping_and_poll.py: Demonstrates how to ping a servo and poll for incoming messages

Tested with:

• macOS 24.3.0.
• Python version 3.12.1
• Seeed Xiao ESP32-S3 Microcontroller
• smart-servo-addon-board
• smart-servo-bridge firmware
• Dynamixel XL430-W250-T smart servos

$ cd /usr/src/
$ sudo git clone https://github.com/robotstack-dev/dynamixel-python-sdk-websockets
$ sudo chown -R pi dynamixelSDK_websockets
$ cd dynamixelSDK_websockets/python/tests/protocol2_0
$ python3 ping.py
Succeeded to open the port
Succeeded to change the baudrate
[ID:001] ping Succeeded. Dynamixel model number : 1060

To use WebSocket define your port as:
        portHandler = PortHandler("ws://yourServerURL:portnum")
e.g.:
        portHandler = PortHandler("ws://192.168.1.22:8080")

You'll need to find the IP address of the server. If using the smart-servo-bridge firmware, you can print its IP address to the serial monitor when it starts up.

Send binary with:
        portHandler.writePort([byte1,byte2,...,byteN])

This feature is used by the Dynamixel SDK with calls such as:
        packetHandler.write1ByteTxRx(portHandler, id, ADDR_TORQUE_ENABLE, TORQUE_ENABLE)

You can also send text with:
        portHandler.writePort("my message here")