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+====== arduino.py library, for serial communication ======
+<code python>
+#!/usr/bin/env python
+import serial, time
+DEBUG=True
+READ=0 #read
+WRITE=1 #write
+class Servo:
+    def __init__(self, pin, board, number=0):
+        self.pin = pin
+        self.board=board
+        self.number=number
+    def attach(self):
+        if self.board.sendCmd('S', 5, self.number, self.pin, 0)=='0':
+            return True
+        print "Servo: Error attach %s" % self.pin
+        return False
+    def detach(self):
+        if self.board.sendCmd('S', 9, self.number, self.pin, 0)=='0':
+            return True
+        print "Servo: Error detach %s" % self.pin
+        return False
+    def attached(self):
+        if self.board.sendCmd('S', 8, self.number, self.pin, 0)=='1':
+            return True
+        return False
+    def write(self,value):
+        if self.board.sendCmd('S', 6, self.number, self.pin, value)=='0':
+            return True
+        print "Servo: Error write %s = %s" % (self.pin,value)
+        return False
+    def read(self):
+        return self.board.sendCmd('S', 7, self.number, self.pin, 0)
+class Arduino(object):
+    __OUTPUT_PINS = -1
+    def __init__(self, port, baudrate=9600):
+        self.serial = serial.Serial(port, baudrate)
+        self.servo_index=0
+    def init(self):
+        self.sendCmd('I',)
+    def __str__(self):
+        return "Arduino is on port %s at %d baudrate" %(self.serial.port, self.serial.baudrate)
+    def attachServo(self,pin):
+        s = Servo(pin,self,self.servo_index)
+        s.attach()
+        self.servo_index+=1
+        return s
+    def getServo(self,pin,number):
+        ''' number - index of serv[] array '''
+        return Servo(pin,self,number)
+    def output(self, pinArray):
+        if(isinstance(pinArray, list) or isinstance(pinArray, tuple)):
+            self.__OUTPUT_PINS = pinArray
+            for each_pin in pinArray:
+                self.sendCmd('C',each_pin,1)
+        return True
+    def setLow(self, pin):
+        self.sendCmd('D',WRITE,pin,0)
+        return True
+    def setHigh(self, pin):
+        self.sendCmd('D',WRITE,pin,1)
+        return True
+    def getState(self, pin):
+        return self.__formatPinState(self.sendCmd('D',READ,pin))
+    def analogWrite(self, pin, value):
+        self.sendCmd('A',WRITE,pin,value)
+        return True
+    def analogRead(self, pin):
+        return int(self.sendCmd('A',READ,pin))
+    def turnOff(self):
+        for each_pin in self.__OUTPUT_PINS:
+            self.setLow(each_pin)
+        return True
+    def sendCmd(self, *args):
+        line=""
+        for arg in args:
+            line = line + "%s " % arg
+        #print "dbg:sendCmd('%s!')" % line
+        self.serial.write("%s!" % line)
+        self.serial.flush()
+        res = self.serial.readline().replace("\r\n","")
+        if DEBUG:
+            print "dbg:sendCmd('%s!')=%s" % (line, res)
+        return res
+    def __formatPinState(self, pinValue):
+        if pinValue=='1':
+            return True
+        else:
+            return False
+    def close(self):
+        self.serial.close()
+        return True
+    def __del__(self):
+        #close serial connection once program ends
+        #this fixes the problem of port getting locked or unrecoverable in some linux systems
+        self.serial.close()
+</code>

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