Merge pull request #13 from AlbanVl/main

Add the `ChangeBaudrate` method + correct some errors in the README's and update them.

Author: Mickael-Roger

README.md

@@ -10,8 +10,14 @@ This Python module provides a high-level API to communicate and control ST3215 s
 - Write target position, speed, and acceleration
 - Rotate continuously in either direction
 - Define and correct middle position
-- EEPROM locking and ID reconfiguration
+- EEPROM locking, ID and baudrate reconfiguration
 
+## Installation
+You can install the module using pip:
+
+```bash
+pip install -e .
+```
 
 ## Example Usage
 
@@ -269,8 +275,8 @@ servo.Rotate(1, 250)
 ---
 
 ### `MoveTo(sts_id, position, speed=2400, acc=50, wait=False)`
-Move to a defined position.
-Set wait to `True` if you want to wait the end of the move before the function returning
+Move to a defined position. Return `None` in case of error.
+Set wait to `True` if you want to wait the end of the move before the function returning.
 
 - **Parameters**:
   - `sts_id` (int)
@@ -301,7 +307,7 @@ servo.WritePosition(1, 2048)
 ---
 
 ### `ReadPosition(sts_id)`
-Read current position. Return `None` in case of error.
+Read current position. Return position in case of success, otherwise `None`
 
 - **Parameters**: `sts_id` (int)
 - **Returns**: `int` or `None`
@@ -313,7 +319,7 @@ servo.ReadPosition(1)
 ---
 
 ### `ReadSpeed(sts_id)`
-Get current speed. Return `None` in case of error.
+Get current speed. Return speed in case of success, otherwise `None`
 
 - **Parameters**: `sts_id` (int)
 - **Returns**: `(int, int, int)`
@@ -325,7 +331,7 @@ speed, comm, error = servo.ReadSpeed(1)
 ---
 
 ### `LockEprom(sts_id)`
-Lock the EEPROM. Return `None` in case of error.
+Lock the EEPROM. Return `0` in case of success.
 
 - **Parameters**: `sts_id` (int)
 - **Returns**: `int`
@@ -337,7 +343,7 @@ servo.LockEprom(1)
 ---
 
 ### `UnLockEprom(sts_id)`
-Unlock the EEPROM. Return `None` in case of error.
+Unlock the EEPROM. Return `0` in case of success.
 
 - **Parameters**: `sts_id` (int)
 - **Returns**: `int`
@@ -349,7 +355,7 @@ servo.UnLockEprom(1)
 ---
 
 ### `ChangeId(sts_id, new_id)`
-Change the servo ID. Return `None` in case of error.
+Change the servo ID. Return `None` when sucedeed otherwise the error message 
 
 - **Parameters**:
   - `sts_id` (int)
@@ -360,6 +366,19 @@ Change the servo ID. Return `None` in case of error.
 servo.ChangeId(1, 2)
 ```
 
+---
+### `ChangeBaudrate(sts_id, new_baudrate)`
+Change the servo baudrate. Return `None` when sucedeed otherwise the error message 
+
+- **Parameters**:
+  - `sts_id` (int)
+  - `new_baudrate` (int)
+- **Returns**: `None` or `str`
+- **Example**:
+```python
+servo.ChangeBaudrate(1, 4) # 115200
+```
+
 ---
 
 ### `DefineMiddle(sts_id)`

st3215/st3215.py

@@ -564,5 +564,29 @@ def ChangeId(self, sts_id, new_id):
         else:
             return "new_id is not between 0 and 253" 
 
+    def ChangeBaudrate(self, sts_id, new_baudrate):
+        """
+        Change Baudrate of a Servo.
+
+        :param sts_id: Actual ID for the servo
+        :param new_baudrate: New baudrate for the servo (in bps)
+
+        :return: None when sucedeed otherwise the error message 
+        """
+        if isinstance(new_baudrate, int) and 0 <= new_baudrate <= 7:
+            
+            if not self.PingServo(sts_id):
+                return f"Could not find servo: {sts_id}" 
 
+            if self.UnLockEprom(sts_id) != COMM_SUCCESS:
+                return "Could not unlock Eprom" 
+
+            if self.write1ByteTxOnly(sts_id, STS_BAUD_RATE, new_baudrate) != COMM_SUCCESS:
+                return "Could not change Servo Baudrate" 
+
+            self.LockEprom(sts_id)
+            return None
+        else:
+            return "baudrate is not valid"
+    
 

test/README.md

@@ -92,6 +92,16 @@ Comprehensive test of servo control functions.
 - **Purpose**: Test StartServo, SetAcceleration, SetSpeed, rotation mode, position mode, and StopServo
 - **⚠️ Important**: Ensure servo has enough physical clearance for movement
 
+### Test 11: Change baudrate
+Tests baud rate changing functionality.
+- **File**: `test_11_change_baudrate.py`
+- **Purpose**: Change servo communication baud rate and verify
+
+### Test 12: Read Position
+Tests position reading functionality.
+- **File**: `test_12_read_position.py`
+- **Purpose**: Read current servo position
+
 ## Safety Notes
 
 - Ensure proper power supply is connected before running tests

test/test_11_change_baudrate.py

@@ -0,0 +1,26 @@
+from st3215 import ST3215
+
+baudrate = [1000000, 500000, 250000, 128000, 115200, 76800, 57600, 38400]
+baudrate_nb = 2
+prev_baud_nb = 0
+
+servo = ST3215('COM7')
+print("Default baudrate:", servo.portHandler.baudrate)
+print("Close port...")
+servo.portHandler.closePort()
+print("Reopen port with previous baudrate:", baudrate[prev_baud_nb])
+servo.portHandler.baudrate = baudrate[prev_baud_nb]
+servo.portHandler.openPort()
+print("PingServo:", servo.PingServo(1))
+status = servo.ChangeBaudrate(1, baudrate_nb)
+if status != None:
+    print("Baudrate change failed with status:", status)
+else:
+    print("Baudrate change successful")
+print("Close port...")
+servo.portHandler.closePort()
+print("Reopen port with new baudrate:", baudrate[baudrate_nb])
+servo.portHandler.baudrate = baudrate[baudrate_nb]
+print("Current baudrate:", servo.portHandler.baudrate)
+servo.portHandler.openPort()
+print("PingServo:", servo.PingServo(1))

test/test_12_read_position.py

@@ -0,0 +1,14 @@
+from st3215 import ST3215
+
+baudrate = [1000000, 500000, 250000, 128000, 115200, 76800, 57600, 38400]
+baudrate_nb = 0
+prev_baud_nb = 0
+
+servo = ST3215('COM7')
+print("Default baudrate:", servo.portHandler.baudrate)
+print("Close port...")
+servo.portHandler.closePort()
+print("Reopen port with the right baudrate:", baudrate[baudrate_nb])
+servo.portHandler.baudrate = baudrate[baudrate_nb]
+servo.portHandler.openPort()
+print("Position:", servo.ReadPosition(1))