1.2.1

.github/workflows/compile.yml

@@ -16,14 +16,18 @@ on:
 
 jobs:
   compile:
-    name: Library Compilation
+    name: Library Compilation (Python ${{ matrix.python-version }})
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13", "3.14"]
     steps:
       - uses: actions/checkout@v4
-      - name: Set up Python
+      - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v5
         with:
-          python-version: "3.x"
+          python-version: ${{ matrix.python-version }}
       - name: Install build tools
         run: |
           pip install --upgrade pip

.github/workflows/release.yml

@@ -2,11 +2,30 @@ name: Build and Publish to PyPi
 
 on:
   push:
-    branches: [main]
+    tags: ["*.*.*"]
 
 jobs:
+  test:
+    name: Run tests before release
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+      - name: Install dependencies
+        run: |
+          pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install pytest
+          pip install -e .
+      - name: Run tests
+        run: pytest tests/ -v
+
   build:
     name: Build distribution
+    needs: test
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -17,11 +36,7 @@ jobs:
         with:
           python-version: "3.x"
       - name: Install pypa/build
-        run: >-
-          python3 -m
-          pip install
-          build
-          --user
+        run: python3 -m pip install build --user
       - name: Build a binary wheel and a source tarball
         run: python3 -m build
       - name: Store the distribution packages
@@ -30,11 +45,26 @@ jobs:
           name: python-package-distributions
           path: dist/
 
+  github-release:
+    name: Upload wheels to GitHub Release
+    needs: build
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+      - name: Upload to GitHub Release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: dist/*
+
   publish-to-pypi:
     name: Publish Python distribution to PyPI
-    if: startsWith(github.ref, 'refs/tags/')
-    needs:
-      - build
+    needs: build
     runs-on: ubuntu-latest
     environment:
       name: pypi
@@ -47,5 +77,5 @@ jobs:
         with:
           name: python-package-distributions
           path: dist/
-      - name: Publish distribution 📦 to PyPI
+      - name: Publish distribution to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/test.yml

@@ -0,0 +1,40 @@
+name: Tests
+
+on:
+  push:
+    paths:
+      - "src/**/*.py"
+      - "tests/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/test.yml"
+  pull_request:
+    paths:
+      - "src/**/*.py"
+      - "tests/**/*.py"
+      - "pyproject.toml"
+      - "requirements.txt"
+      - ".github/workflows/test.yml"
+
+jobs:
+  test:
+    name: Unit Tests (Python ${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13", "3.14"]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install pytest
+          pip install -e .
+      - name: Run tests
+        run: pytest tests/ -v

.github/workflows/type-check.yml

@@ -16,14 +16,18 @@ on:
 
 jobs:
   type-check:
-    name: Type Checking with mypy
+    name: Type Checking with mypy (Python ${{ matrix.python-version }})
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13", "3.14"]
     steps:
       - uses: actions/checkout@v4
-      - name: Set up Python
+      - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v5
         with:
-          python-version: "3.x"
+          python-version: ${{ matrix.python-version }}
       - name: Install dependencies
         run: |
           pip install --upgrade pip

README.md

@@ -1,6 +1,5 @@
 # Python-ST3215
 
-[![wakatime](https://wakatime.com/badge/user/b67f4ae3-1ee8-40ea-b8d8-196354064008/project/2d953882-4dfb-4c53-8a18-c698dc275f82.svg)](https://wakatime.com/badge/user/b67f4ae3-1ee8-40ea-b8d8-196354064008/project/2d953882-4dfb-4c53-8a18-c698dc275f82)
 [![PyPI Version](https://img.shields.io/pypi/v/python-st3215)](https://pypi.org/project/python-st3215/)
 ![Python Versions](https://img.shields.io/pypi/pyversions/python-st3215)
 ![License](https://img.shields.io/github/license/alessiodam/python-st3215)
@@ -61,7 +60,7 @@ Hover over classes and functions in your editor to see type hints, parameter des
 | Brand     | SKU   | Product                                                                      |
 |-----------|-------|------------------------------------------------------------------------------|
 | Waveshare | 22414 | [ST3215 Series Serial Bus Servo](https://www.waveshare.com/st3215-servo.htm) |
-|           |       | USB to RS485 Serial Converter                                                |
+| Waveshare | 25514 | [Bus Servo Adapter (A)](https://www.waveshare.com/bus-servo-adapter-a.htm)   |
 
 ## Memory Table
 

examples/01_scan_servos.py

@@ -6,9 +6,9 @@
 
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     print("Scanning for servos...\n")
     servos = controller.list_servos()
 
@@ -18,24 +18,26 @@
         print(f"Found {len(servos)} servo(s)\n")
         print("=" * 80)
 
+        mode_names = {0: "Position", 1: "Constant Speed", 2: "PWM", 3: "Stepper"}
+
         for servo_id in servos:
             servo = controller.wrap_servo(servo_id)
 
+            voltage_raw = servo.sram.read_current_voltage()
+            voltage_str = f"{voltage_raw / 10:.1f}V" if voltage_raw is not None else "N/A"
+
+            mode = servo.eeprom.read_operating_mode()
+
             print(f"\nServo ID: {servo_id}")
             print(
                 f"  Firmware: v{servo.eeprom.read_firmware_major_version()}.{servo.eeprom.read_firmware_minor_version()}"
             )
             print(f"  Position: {servo.sram.read_current_location()}")
             print(f"  Temperature: {servo.sram.read_current_temperature()}°C")
-            print(f"  Voltage: {servo.sram.read_current_voltage() / 10:.1f}V")
+            print(f"  Voltage: {voltage_str}")
             print(
                 f"  Min/Max Angle: {servo.eeprom.read_min_angle_limit()} / {servo.eeprom.read_max_angle_limit()}"
             )
-
-            mode = servo.eeprom.read_operating_mode()
-            mode_names = {0: "Position", 1: "Constant Speed", 2: "PWM", 3: "Stepper"}
             print(f"  Operating Mode: {mode_names.get(mode, 'Unknown')}")
 
         print("\n" + "=" * 80)
-finally:
-    controller.close()

examples/02_movement.py

@@ -4,11 +4,12 @@
 
 import os
 import time
+
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     servo = controller.wrap_servo(1)
     servo.sram.torque_enable()
 
@@ -25,5 +26,3 @@
     time.sleep(1)
 
     servo.sram.torque_disable()
-finally:
-    controller.close()

examples/03_read_position.py

@@ -7,22 +7,24 @@
 
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     servo = controller.wrap_servo(1)
     servo.sram.torque_disable()
     print("Manually move the servo.  Press Ctrl+C to exit.")
-    while True:
-        position = servo.sram.read_current_location()
-        speed = servo.sram.read_current_speed()
-        load = servo.sram.read_current_load()
 
-        print(
-            f"Position: {position:5d} | Speed: {speed:5d} | Load: {load:4d}", end="\r"
-        )
-        time.sleep(0.1)
-except KeyboardInterrupt:
-    print("\nStopped.")
-finally:
-    controller.close()
+    try:
+        while True:
+            position = servo.sram.read_current_location()
+            speed = servo.sram.read_current_speed()
+            load = servo.sram.read_current_load()
+
+            pos_str = f"{position:5d}" if position is not None else "  N/A"
+            spd_str = f"{speed:5d}" if speed is not None else "  N/A"
+            load_str = f"{load:4d}" if load is not None else " N/A"
+
+            print(f"Position: {pos_str} | Speed: {spd_str} | Load: {load_str}", end="\r")
+            time.sleep(0.1)
+    except KeyboardInterrupt:
+        print("\nStopped.")

examples/04_speed_control.py

@@ -1,32 +1,34 @@
 """
-Control servo movement speed using acceleration parameter.
+Control servo movement speed using the acceleration parameter.
+
+Acceleration unit: 100 steps/s² per unit (e.g. 10 = 1000 steps/s²).
+Lower values = slower ramp-up, smoother motion.
 """
 
 import os
 import time
+
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     servo = controller.wrap_servo(1)
     servo.sram.torque_enable()
 
-    print("Slow movement (acceleration = 10)...")
+    print("Slow movement (acceleration = 10 → 1000 steps/s²)...")
     servo.sram.write_acceleration(10)
     servo.sram.write_target_location(3000)
-    time.sleep(2)
+    time.sleep(3)
 
-    print("Fast movement (acceleration = 100)...")
-    servo.sram.write_acceleration(100)
+    print("Medium movement (acceleration = 50 → 5000 steps/s²)...")
+    servo.sram.write_acceleration(50)
     servo.sram.write_target_location(1000)
     time.sleep(2)
 
-    print("Very fast movement (acceleration = 254)...")
+    print("Fast movement (acceleration = 254 → 25400 steps/s²)...")
     servo.sram.write_acceleration(254)
     servo.sram.write_target_location(2048)
-    time.sleep(2)
+    time.sleep(1)
 
     servo.sram.torque_disable()
-finally:
-    controller.close()

examples/05_torque_limit.py

@@ -1,14 +1,18 @@
 """
 Demonstrate torque limiting to reduce servo force.
+
+Torque limit unit: 0.1% per unit (0-1000, where 1000 = 100%).
+This affects SRAM only; it resets to max_torque (EEPROM) on power-up.
 """
 
 import os
 import time
+
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     servo = controller.wrap_servo(1)
     servo.sram.torque_enable()
 
@@ -27,7 +31,6 @@
     servo.sram.write_target_location(3000)
     time.sleep(1.5)
 
+    # Restore full torque before disabling so the next power-on is predictable
     servo.sram.write_torque_limit(1000)
     servo.sram.torque_disable()
-finally:
-    controller.close()

examples/06_angle_limit.py

@@ -1,14 +1,18 @@
 """
 Set minimum and maximum angle limits to restrict servo range.
+
+Limits are stored in EEPROM and persist across power cycles.
+The servo will clamp movement to stay within the configured limits.
 """
 
 import os
 import time
+
 from python_st3215 import ST3215
 
-controller = ST3215(os.environ.get("ST3215_PORT", "/dev/ttyUSB0"))
+PORT = os.environ.get("ST3215_PORT", "/dev/ttyUSB0")
 
-try:
+with ST3215(PORT) as controller:
     servo = controller.wrap_servo(1)
 
     print("Setting angle limits: 1500 to 2500")
@@ -33,10 +37,8 @@
     time.sleep(1)
     print(f"Actual position: {servo.sram.read_current_location()}")
 
-    print("\nRestoring full range...")
+    print("\nRestoring full range (0-4095)...")
     servo.eeprom.write_min_angle_limit(0)
     servo.eeprom.write_max_angle_limit(4095)
 
     servo.sram.torque_disable()
-finally:
-    controller.close()