Fork of redoxcode/micropython-servo for the Blossom robot, with support for Dynamixel servos. This software for the Pi Pico microcontroller receives serial commands from an external Python process and controls servo motor positions.

Usage

Materials

• Raspberry Pi Pico or Pico W
• Motors, either Dynamixels or simple TowerPro SG90 servos. Follow the guide at r0b0/docs/blsm.md for wiring the hardware

Prereqs

MicroPython

MicroPython loaded onto the Pico. Follow the official instructions to set the Pico up: https://www.raspberrypi.com/documentation/microcontrollers/micropython.html

rshell

rshell for MicroPython: https://github.com/dhylands/rshell. If we have uv installed, we can use rshell as a uvx tool. With the Pico plugged in:

# use sudo to ensure access to the board
sudo uvx rshell 

Copy files to board

These make commands copy the dependencies and main script to the board. On boot, the board will run main.py. Updates to main.py require reuploading the file with make main.

make deps
make main

repl

Enter the Read-Evaluate-Print-Loop with:

repl

Key	Command
Ctrl-X	Exit
Ctrl-D	Reboot board
Ctrl-C	Quit without exiting

It's advisable to reboot with Ctrl-D whenever entering the REPL. By default, main.py will loop forever, listening on the serial connection for motor commands.