# pykinisi
Python package for kinisi motor controller. This package is used to control the kinisi motor controller via serial interface.\
Description of the commands can be found in [Kinisi Motion Controller framework documentation](https://raw.githubusercontent.com/szolotykh/kinisi-motor-controller-firmware/command-script/commands.md)
## Installation
Install pykinisi with pip:
```bash
pip install pykinisi
```
## Controlling Single Motor
This example shows how to connect to the motor controller and control a single motor.\
```python
import time
from pykinisi import *
port = "COM3"
controller = KinisiController()
if not controller.connect(port):
print(f"Can't open serial connection. Port: {port}")
exit()
# Motor test
motor_index = MotorIndex.Motor0
speed = 40 # Speed in percentage
# Is motor reversed
is_reversed = False
controller.initialize_motor(motor_index, is_reversed)
# Set motor speed to speed
controller.set_motor_speed(motor_index, speed)
time.sleep(5)
# Stop motor
controller.stop_motor(motor_index)
```
## More Examples
There are several examples in the examples folder which show how to use the pykinisi package to control the kinisi motor controller.\
Run the examples with:
```bash
cd examples
python <example_file> <serial_port>
```
## Package Development
Install pykinisi for development:
```bash
pip install -e .
```
Update KinisiCommands.py file:
```bash
cd tools
pip install -r requirements.txt
python update-commands.py --branch=main
```
## Links
- [Kinisi Motion Controller firmware](https://github.com/szolotykh/kinisi-motor-controller-firmware)
- [Kinisi Motion Controller hardware](https://github.com/szolotykh/kinisi-motor-controller-board)
- [JavaScipt package for kinisi motor controller](https://github.com/szolotykh/jskinisi)
- [Python package for kinisi motor controller](https://github.com/szolotykh/pykinisi)
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