Add python binding

Author: pierre-rouanet

python/README.md

@@ -0,0 +1,44 @@
+# Rustypot python bindings
+
+## Installation
+
+Rustypot bindings are available on PyPI. You can install them using pip:
+
+```bash
+pip install rustypot
+```
+
+### Building the bindings
+
+If you want to build the bindings from source, you can clone the repository and run the following command:
+
+```bash
+maturin develop --release --features python
+```
+
+## Usage
+
+The Python bindings exposes the same API as the Controller API in the rust crate. 
+
+You first need to create a Controller object. For instance, to communicate with a serial port to Feetech STS3215 motors, you can do the following:
+
+```python
+from rustypot.servo import Sts3215SyncController
+
+c = Sts3215SyncController(serial_port='/dev/ttyUSB0', baudrate=100000, timeout=0.1)
+```
+
+Then, you can directly read/write any register of the motor. For instance, to read the present position of the motors with id 1 and 2, you can do:
+
+```python
+
+pos = c.read_present_position([1, 2])
+print(pos)
+```
+
+You can also write to the motors. For instance, to set the goal position of the motors with id 1 and 2 to 0.0 and 90° respectively, you can do:
+
+```python
+import numpy as np
+c.write_goal_position([1, 2], [0.0, np.deg2rad(90.0)])
+```

python/examples/feetech_sinus.py

@@ -0,0 +1,27 @@
+import time
+import numpy as np
+
+from rustypot.servo import Sts3215SyncController
+
+def main():
+    c = Sts3215SyncController(
+        serial_port='/dev/tty.usbmodem58FA0822621', 
+        baudrate=1000000, 
+        timeout=0.1,
+    )
+
+    c.write_torque_enable([1, 2], [True, True])
+
+    t0 = time.time()
+
+    while True:
+        t = time.time() - t0
+        pos = np.sin(2 * np.pi * 0.25 * t) * np.deg2rad(45)
+
+        c.write_goal_position([1, 2], [pos, pos])
+        print(c.read_present_position([1, 2]))
+
+        time.sleep(0.01)
+
+if __name__ == '__main__':
+    main()