Getting Started with Python

The Python API library contains everything required to open a serial port and get/set/save values on a module

Installing Python API

pip install iqmotion

or

pipenv install iqmotion

Note

We heavily recommend to manage your projects with some sort of venv. We prefer to use pipenv. Installing Pipenv for (Win & Mac) / (Linux)

Getting Started

Import iqmotion library and create a SerialCommunicator, which opens a serial port and is responsible for the transmission and reception of messages:

import iqmotion as iq

com = iq.SerialCommunicator('COM PORT', baudrate=115200)

Replace COM PORT with the port name for your serial device (FTDI or similar). The default serial baud rate for the motor controller is 115200.

Creating a Module

Python interacts with the motor controller via Vertiq Module Objects. Currently Vertiq Python API supports 3 types of motors: Vertiq 23-06, Vertiq 81-08, and Fortiq M42BLS

Creating a Vertiq Module

Here’s how you create a Vertiq Module:

import iqmotion as iq

serial_port = "/dev/ttyUSB0" # OS dependent Variable
com = iq.SerialCommunicator(serial_port)

# Create a Vertiq2306 2200kv module with default firmware style ("speed")
vertiq2306 = iq.Vertiq2306(com, 0)

# Create a Vertiq2306 220kv module with default firmware style ("servo")
vertiq2306 = iq.Vertiq2306(com, 0, firmware="servo")

# Create a Vertiq8108 module with default firmware style ("speed")
vertiq8108 = iq.Vertiq8108(com, 0)

Creating a Fortiq Module

Here’s how you create a Vertiq Module:

import iqmotion as iq

serial_port = "/dev/ttyUSB0" # OS dependent Variable
com = iq.SerialCommunicator(serial_port)

# Create a Fortiq module with default firmware style ("servo")
fortiq = iq.Fortiq(com, 0)

Using Get/Set/Save Commands

Each module is capable of forming packets to send get, set, and save messages to a motor controller.

To form a get message:

module.get("client", "client_entry")

vertiq = iq.Vertiq8108(com, 0)
uc_temp = vertiq.get("temperature_monitor_uc", "uc_temp")
print(f"The temperature of the UC is {uc_temp}")

To form a set message with a value:

module.set("client", "client_entry", value)

vertiq = iq.Vertiq8108(com, 0)

volts = 5  # Set motor power to 5 Volts
vertiq.set("propeller_motor_control", "ctrl_volts", volts)

To form a set message with no value:

module.set("client", "client_entry")

vertiq = iq.Vertiq8108(com, 0)

# Reboots motor with saved values
vertiq .set("system_control", "reboot_program")

Finally, to form a save message, use

Saves the client and client entry values already set on the module

module.save("client", "client_entry")

vertiq = iq.Vertiq8108(com, 0)
vertiq.set("propeller_motor_control", "velocity_kp", 10)
vertiq.save("propeller_motor_control", "velocity_kp")

These commands form serialized get/set/save packets and store them into a com SerialCommunicator object which sends the packet request to the motor via Serial Communication.

API Options

Download different firmware styles

Each module comes loaded with default firmware. An ‘x’ marks if a module supports the firmware style.

Module	‘speed’ Firmware	‘servo’ Firmware	‘stepdir’ Firmware
Vertiq2306 2200Kv	DEFAULT	x	x
Vertiq2306 220Kv	x	DEFAULT	x
Vertiq8108 150Kv	DEFAULT
Fortiq	x	DEFAULT

Changing the firmware style

Note

The Vertiq 23-06 220Kv and Vertiq 23-06 2200Kv share the same API call. However the 220Kv was designed as a servo motor while the 2200Kv was designed as a speed motor.

The API call to Vertiq 23-06 defaults to speed, therefore if using a 220Kv module, you need to specify firmware=”servo”

Example of changing the API firmware:

# Create a Vertiq 220Kv Servo Module
vertiq2306 = iq.Vertiq2306(com, 0, firmware="servo")

# Create Fortiq Stepdir Module
fortiq = iq.Fortiq(com, 0, firmware="stepdir")

Adding New Clients to your Vertiq Module

There are 2 options avaiable for adding extra clients

1. clients_path {str: directory path}:

   Create a folder that holds all of your custom client json files and pass the folder name to the module.

   Note: this option will add every client entry in the folder

   import iqmotion as iq
   import os
   
   # extra_clients = <dirname to client jsons>
   path_to_clients = os.path.join(os.path.dirname(__file__), ("extra_clients"))
   
   com = iq.SerialCommunicator("/dev/ttyUSB0")
   fortiq = iq.Fortiq(com, 0, clients_path=path_to_clients)
   fortiq.list_clients()
   

2. extra_clients {list: [dir path, dir path, …]}:

   Contains a list of paths to each cleint entry you want to include Note: you need to pass in an absolute paths

   import iqmotion as iq
   import os
   
   # extra_clients = <dirname to client jsons>
   anticogging = os.path.join(os.path.dirname(__file__), ("extra_clients/anticogging.json"))
   buzzer = os.path.join(os.path.dirname(__file__), ("extra_clients/buzzer_control.json"))
   extra_clients = [anticogging, buzzer]
   
   com = iq.SerialCommunicator("/dev/ttyUSB0")
   fortiq = iq.Fortiq(com, 0, extra_clients=extra_clients)
   fortiq.list_clients()
   

Create a Base Module

A Base Module is a module that contains all the essentials clients needed to interact with a motor. It does not have any control modules so consider it a blank slate.

To start with a base module and add clients on top, create a folder that holds all of your custom client json files and pass the folder name to the module.

# This folder should contain custom client jsons
clients_path = "custom_clients/"

FlyDronePro = iq.BaseIqModule(com, 0, clients_path=clients_path)
FlyDronePro.list_clients() # Displays loaded clients for the module