This class controls an ArbotiX, USBDynamixel, or similar board through a serial connection. More...
Public Member Functions | |
def | __init__ |
Constructs an ArbotiX instance and opens the serial connection. | |
def | disableTorque |
Turn on the torque of a servo. | |
def | disableWheelMode |
Put a servo into servo mode. | |
def | enableTorque |
Turn on the torque of a servo. | |
def | enableWheelMode |
Put a servo into wheel mode (continuous rotation). | |
def | execute |
Send an instruction to the device. | |
def | getAnalog |
Get the value of an analog input pin. | |
def | getDigital |
Get the value of an digital input pin. | |
def | getPacket |
Read a dynamixel return packet in an iterative attempt. | |
def | getPosition |
Get the position of a servo. | |
def | getReturnLevel |
Get the return level of a device. | |
def | getTemperature |
Get the temperature of a device. | |
def | getVoltage |
Get the voltage of a device. | |
def | isMoving |
Determine if a device is moving. | |
def | read |
Read values of registers. | |
def | rescan |
Force the ArbotiX2 to rescan the Dynamixel busses. | |
def | setBaud |
Set baud rate of a device. | |
def | setDigital |
Get the value of an digital input pin. | |
def | setLed |
Set the status of the LED on a servo. | |
def | setPosition |
Set the position of a servo. | |
def | setReturnLevel |
Set the return level of a device. | |
def | setServo |
Set the position of a hobby servo. | |
def | setSpeed |
Set the speed of a servo. | |
def | setWheelSpeed |
Set the speed and direction of a servo which is in wheel mode (continuous rotation). | |
def | syncRead |
Read values of registers on many servos. | |
def | syncWrite |
Write values to registers on many servos. | |
def | write |
Write values to registers. | |
Public Attributes | |
error | |
The last error level read back. | |
Static Public Attributes | |
int | ANA_BASE = 18 |
Register address of first analog port (read only). | |
int | BACKWARD = 1 |
Direction definition for setWheelSpeed. | |
int | DIG_BASE = 5 |
Register base address for reading digital ports. | |
int | FORWARD = 0 |
Direction definition for setWheelSpeed. | |
int | HIGH = 0xff |
Helper definition for analog and digital access. | |
int | INPUT = 0 |
Helper definition for analog and digital access. | |
int | LOW = 0 |
Helper definition for analog and digital access. | |
int | OUTPUT = 0xff |
Helper definition for analog and digital access. | |
int | REG_RESCAN = 15 |
Register address for triggering rescan. | |
int | SERVO_BASE = 26 |
Register address of analog servos. | |
Private Attributes | |
_mutex | |
_ser |
This class controls an ArbotiX, USBDynamixel, or similar board through a serial connection.
Definition at line 38 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::__init__ | ( | self, | ||
port = "/dev/ttyUSB0" , |
||||
baud = 115200 , |
||||
timeout = 0.1 | ||||
) |
Constructs an ArbotiX instance and opens the serial connection.
port | The name of the serial port to open. | |
baud | The baud rate to run the port at. | |
timeout | The timeout to use for the port. When operating over a wireless link, you may need to increase this. |
Definition at line 48 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::disableTorque | ( | self, | ||
index | ||||
) |
Turn on the torque of a servo.
index | The ID of the device to disable. |
Definition at line 268 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::disableWheelMode | ( | self, | ||
index, | ||||
resolution = 10 | ||||
) |
Put a servo into servo mode.
index | The ID of the device to write. | |
resolution | The resolution of the encoder on the servo. NOTE: if using 12-bit resolution servos (EX-106, MX-28, etc), you must pass resolution = 12. |
Definition at line 361 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::enableTorque | ( | self, | ||
index | ||||
) |
Turn on the torque of a servo.
index | The ID of the device to enable. |
Definition at line 260 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::enableWheelMode | ( | self, | ||
index | ||||
) |
Put a servo into wheel mode (continuous rotation).
index | The ID of the device to write. |
Definition at line 350 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::execute | ( | self, | ||
index, | ||||
ins, | ||||
params, | ||||
ret = True | ||||
) |
Send an instruction to the device.
index | The ID of the servo to write. | |
ins | The instruction to send. | |
params | A list of the params to send. | |
ret | Whether to read a return packet. |
Definition at line 124 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getAnalog | ( | self, | ||
index | ||||
) |
Get the value of an analog input pin.
index | The ID of the pin to read (0 to 7). |
Definition at line 424 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getDigital | ( | self, | ||
index | ||||
) |
Get the value of an digital input pin.
index | The ID of the pin to read (0 to 15). |
Definition at line 435 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getPacket | ( | self, | ||
mode, | ||||
id = -1 , |
||||
leng = -1 , |
||||
error = -1 , |
||||
params = None | ||||
) |
Read a dynamixel return packet in an iterative attempt.
mode | This should be 0 to start reading packet. |
Definition at line 65 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getPosition | ( | self, | ||
index | ||||
) |
Get the position of a servo.
index | The ID of the device to read. |
Definition at line 306 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getReturnLevel | ( | self, | ||
index | ||||
) |
Get the return level of a device.
index | The ID of the device to read. |
Definition at line 239 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getTemperature | ( | self, | ||
index | ||||
) |
Get the temperature of a device.
index | The ID of the device to read. |
Definition at line 329 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::getVoltage | ( | self, | ||
index | ||||
) |
Get the voltage of a device.
index | The ID of the device to read. |
Definition at line 318 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::isMoving | ( | self, | ||
index | ||||
) |
Determine if a device is moving.
index | The ID of the device to read. |
Definition at line 340 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::read | ( | self, | ||
index, | ||||
start, | ||||
length | ||||
) |
Read values of registers.
index | The ID of the servo. | |
start | The starting register address to begin the read at. | |
length | The number of bytes to read. |
Definition at line 166 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::rescan | ( | self | ) |
Force the ArbotiX2 to rescan the Dynamixel busses.
Definition at line 416 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setBaud | ( | self, | ||
index, | ||||
baud | ||||
) |
Set baud rate of a device.
index | The ID of the device to write (Note: ArbotiX is 253). | |
baud | The baud rate. |
Definition at line 231 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setDigital | ( | self, | ||
index, | ||||
value, | ||||
direction = 0xff | ||||
) |
Get the value of an digital input pin.
index | The ID of the pin to write. Note that this only works on the lower half of the digital IO (ID 0 to 7). | |
value | The value of the port, >0 is high. | |
direction | The direction of the port, >0 is output. |
Definition at line 460 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setLed | ( | self, | ||
index, | ||||
value | ||||
) |
Set the status of the LED on a servo.
index | The ID of the device to write. | |
value | 0 to turn the LED off, >0 to turn it on |
Definition at line 278 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setPosition | ( | self, | ||
index, | ||||
value | ||||
) |
Set the position of a servo.
index | The ID of the device to write. | |
value | The position to go to in, in servo ticks. |
Definition at line 288 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setReturnLevel | ( | self, | ||
index, | ||||
value | ||||
) |
Set the return level of a device.
index | The ID of the device to write. | |
value | The return level. |
Definition at line 252 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setServo | ( | self, | ||
index, | ||||
value | ||||
) |
Set the position of a hobby servo.
index | The ID of the servo to write (0 to 7). | |
value | The position of the servo in milliseconds (1500-2500). A value of 0 disables servo output. |
Definition at line 480 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setSpeed | ( | self, | ||
index, | ||||
value | ||||
) |
Set the speed of a servo.
index | The ID of the device to write. | |
value | The speed to write. |
Definition at line 298 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::setWheelSpeed | ( | self, | ||
index, | ||||
direction, | ||||
speed | ||||
) |
Set the speed and direction of a servo which is in wheel mode (continuous rotation).
index | The ID of the device to write. | |
direction | The direction of rotation, either FORWARD or BACKWARD | |
speed | The speed to move at (0-1023). |
Definition at line 379 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::syncRead | ( | self, | ||
servos, | ||||
start, | ||||
length | ||||
) |
Read values of registers on many servos.
servos | A list of the servo IDs to read from. | |
start | The starting register address to begin reading at. | |
length | The number of bytes to read from each servo. |
Definition at line 221 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::syncWrite | ( | self, | ||
start, | ||||
values | ||||
) |
Write values to registers on many servos.
start | The starting register address to begin writing to. | |
values | The data to write, in a list of lists. Format should be [(id1, val1, val2), (id2, val1, val2)] |
Definition at line 192 of file arbotix.py.
def arbotix_python::arbotix::ArbotiX::write | ( | self, | ||
index, | ||||
start, | ||||
values | ||||
) |
Write values to registers.
index | The ID of the servo. | |
start | The starting register address to begin writing to. | |
values | The data to write, in a list. |
Definition at line 182 of file arbotix.py.
arbotix_python::arbotix::ArbotiX::_mutex [private] |
Definition at line 49 of file arbotix.py.
arbotix_python::arbotix::ArbotiX::_ser [private] |
Definition at line 50 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::ANA_BASE = 18 [static] |
Register address of first analog port (read only).
Each additional port is BASE + index.
Definition at line 409 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::BACKWARD = 1 [static] |
Direction definition for setWheelSpeed.
Definition at line 368 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::DIG_BASE = 5 [static] |
Register base address for reading digital ports.
Definition at line 403 of file arbotix.py.
The last error level read back.
Definition at line 58 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::FORWARD = 0 [static] |
Direction definition for setWheelSpeed.
Definition at line 366 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::HIGH = 0xff [static] |
Helper definition for analog and digital access.
Definition at line 394 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::INPUT = 0 [static] |
Helper definition for analog and digital access.
Definition at line 396 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::LOW = 0 [static] |
Helper definition for analog and digital access.
Definition at line 392 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::OUTPUT = 0xff [static] |
Helper definition for analog and digital access.
Definition at line 398 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::REG_RESCAN = 15 [static] |
Register address for triggering rescan.
Definition at line 405 of file arbotix.py.
int arbotix_python::arbotix::ArbotiX::SERVO_BASE = 26 [static] |
Register address of analog servos.
Up to 10 servos, each uses 2 bytes (L, then H), pulse width (0, 1000-2000ms) (Write only)
Definition at line 412 of file arbotix.py.