Circuitpython code for ibus servo protocal

ibus_test.py

import time

uart = busio.UART(rx=board.SLOT2.FAST2, tx=board.SLOT2.FAST1, baudrate=115200, bits=8, parity=None, stop=1 )
buffer=bytearray(31)

error_flag = False

while True:
    c=uart.read(1)
    #time.sleep(0.005)
    #print(c[0])
    try:
        if c[0] == 0x20:
            uart.readinto(buffer)
            checksum = 0xffff - 0x20
            for i in range(29): checksum -= buffer[i]
            
            if checksum == (buffer[30] <<8) | buffer[29]:
                # skip buffer[0] = 0x40
                ch1 = buffer[2]*255+buffer[1]
                ch2 = buffer[4]*255+buffer[3]
                ch3 = buffer[6]*255+buffer[5]
                ch4 = buffer[8]*255+buffer[7]
                ch5 = buffer[10]*255+buffer[9]
                ch6 = buffer[12]*255+buffer[11]
                print('ch  1-',ch1,'  2-',ch2,'  3-',ch3,'  4-',ch4,'  5-',ch5,'   6-',ch6)
                #time.sleep(0.5)
    except Exception:
                 
        pass