Public Member Functions | |
| def | __del__ |
| def | __init__ |
| def | close |
| def | exception_on_error |
| def | get_angle_limits |
| def | get_feedback |
| def | get_firmware_version |
| def | get_model_number |
| def | get_position |
| def | get_return_delay_time |
| def | get_speed |
| def | get_voltage |
| def | ping |
| def | read |
| def | set_angle_limit_ccw |
| def | set_angle_limit_cw |
| def | set_angle_limits |
| def | set_baud_rate |
| def | set_compliance_margin_ccw |
| def | set_compliance_margin_cw |
| def | set_compliance_margins |
| def | set_compliance_slope_ccw |
| def | set_compliance_slope_cw |
| def | set_compliance_slopes |
| def | set_id |
| def | set_multi_servo_positions |
| def | set_multi_servo_positions_and_speeds |
| def | set_multi_servo_speeds |
| def | set_multi_servos_to_torque_enabled |
| def | set_position |
| def | set_position_and_speed |
| def | set_punch |
| def | set_return_delay_time |
| def | set_speed |
| def | set_torque_enabled |
| def | set_torque_limit |
| def | set_voltage_limit_max |
| def | set_voltage_limit_min |
| def | set_voltage_limits |
| def | sync_write |
| def | test_bit |
| def | write |
| def | write_packet |
Public Attributes | |
| ser | |
Private Member Functions | |
| def | __read_response |
Provides low level IO with the Dynamixel servos through pyserial. Has the ability to write instruction packets, request and read register value packets, send and receive a response to a ping packet, and send a SYNC WRITE multi-servo instruction packet.
Definition at line 55 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::__del__ | ( | self | ) |
Destructor calls DynamixelIO.close
Definition at line 72 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::__init__ | ( | self, | ||
| port, | ||||
| baudrate | ||||
| ) |
Constructor takes serial port and baudrate as arguments.
Definition at line 62 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::__read_response | ( | self, | ||
| servo_id | ||||
| ) | [private] |
Definition at line 85 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::close | ( | self | ) |
Be nice, close the serial port.
Definition at line 76 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::exception_on_error | ( | self, | ||
| error_code, | ||||
| servo_id, | ||||
| command_failed | ||||
| ) |
Definition at line 776 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_angle_limits | ( | self, | ||
| servo_id | ||||
| ) |
Returns the min and max angle limits from the specified servo.
Definition at line 698 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_feedback | ( | self, | ||
| servo_id | ||||
| ) |
Returns the id, goal, position, error, speed, load, voltage, temperature and moving values from the specified servo.
Definition at line 738 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_firmware_version | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's firmware version.
Definition at line 684 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_model_number | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's model number (e.g. 12 for AX-12+).
Definition at line 677 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_position | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's position value from its registers.
Definition at line 713 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_return_delay_time | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's return delay time.
Definition at line 691 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_speed | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's speed value from its registers.
Definition at line 721 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::get_voltage | ( | self, | ||
| servo_id | ||||
| ) |
Reads the servo's voltage.
Definition at line 731 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::ping | ( | self, | ||
| servo_id | ||||
| ) |
Ping the servo with "servo_id". This causes the servo to return a "status packet". This can tell us if the servo is attached and powered, and if so, if there are any errors.
Definition at line 208 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::read | ( | self, | ||
| servo_id, | ||||
| address, | ||||
| size | ||||
| ) |
Read "size" bytes of data from servo with "servo_id" starting at the
register with "address". "address" is an integer between 0 and 57. It is
recommended to use the constants in module dynamixel_const for readability.
To read the position from servo with id 1, the method should be called
like:
read(1, DXL_GOAL_POSITION_L, 2)
Definition at line 102 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_angle_limit_ccw | ( | self, | ||
| servo_id, | ||||
| angle_ccw | ||||
| ) |
Set the max (CCW) angle of rotation limit.
Definition at line 345 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_angle_limit_cw | ( | self, | ||
| servo_id, | ||||
| angle_cw | ||||
| ) |
Set the min (CW) angle of rotation limit.
Definition at line 333 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_angle_limits | ( | self, | ||
| servo_id, | ||||
| min_angle, | ||||
| max_angle | ||||
| ) |
Set the min (CW) and max (CCW) angle of rotation limits.
Definition at line 357 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_baud_rate | ( | self, | ||
| servo_id, | ||||
| baud_rate | ||||
| ) |
Sets servo communication speed. The range from 0 to 254.
Definition at line 313 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_margin_ccw | ( | self, | ||
| servo_id, | ||||
| margin | ||||
| ) |
The error between goal position and present position in CCW direction. The range of the value is 0 to 255, and the unit is the same as Goal Position. The greater the value, the more difference occurs.
Definition at line 444 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_margin_cw | ( | self, | ||
| servo_id, | ||||
| margin | ||||
| ) |
The error between goal position and present position in CW direction. The range of the value is 0 to 255, and the unit is the same as Goal Position. The greater the value, the more difference occurs.
Definition at line 433 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_margins | ( | self, | ||
| servo_id, | ||||
| margin_cw, | ||||
| margin_ccw | ||||
| ) |
The error between goal position and present position in CCW direction. The range of the value is 0 to 255, and the unit is the same as Goal Position. The greater the value, the more difference occurs.
Definition at line 455 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_slope_ccw | ( | self, | ||
| servo_id, | ||||
| slope | ||||
| ) |
Sets the level of Torque near the goal position in CCW direction. Compliance Slope is set in 7 steps, the higher the value, the more flexibility is obtained.
Definition at line 476 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_slope_cw | ( | self, | ||
| servo_id, | ||||
| slope | ||||
| ) |
Sets the level of Torque near the goal position in CW direction. Compliance Slope is set in 7 steps, the higher the value, the more flexibility is obtained.
Definition at line 466 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_compliance_slopes | ( | self, | ||
| servo_id, | ||||
| slope_cw, | ||||
| slope_ccw | ||||
| ) |
Sets the level of Torque near the goal position in CW/CCW direction. Compliance Slope is set in 7 steps, the higher the value, the more flexibility is obtained.
Definition at line 486 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_id | ( | self, | ||
| old_id, | ||||
| new_id | ||||
| ) |
Sets a new unique number to identify a motor. The range from 1 to 253 (0xFD) can be used.
Definition at line 303 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_multi_servo_positions | ( | self, | ||
| valueTuples | ||||
| ) |
Set different positions for multiple servos. Should be called as such: set_multi_servo_positions( ( (id1, position1), (id2, position2), (id3, position3) ) )
Definition at line 610 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_multi_servo_positions_and_speeds | ( | self, | ||
| valueTuples | ||||
| ) |
Set different positions and speeds for multiple servos. Should be called as such: set_multi_servo_speeds( ( (id1, position1, speed1), (id2, position2, speed2), (id3, position3, speed3) ) )
Definition at line 630 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_multi_servo_speeds | ( | self, | ||
| valueTuples | ||||
| ) |
Set different speeds for multiple servos. Should be called as such: set_multi_servo_speeds( ( (id1, speed1), (id2, speed2), (id3, speed3) ) )
Definition at line 584 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_multi_servos_to_torque_enabled | ( | self, | ||
| servo_ids, | ||||
| enabled | ||||
| ) |
Method to set multiple servos torque enabled. Should be called as such: set_multi_servos_to_torque_enabled( (id1, id2, id3), True)
Definition at line 660 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_position | ( | self, | ||
| servo_id, | ||||
| position | ||||
| ) |
Set the servo with servo_id to the specified goal position. Position value must be positive.
Definition at line 510 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_position_and_speed | ( | self, | ||
| servo_id, | ||||
| position, | ||||
| speed | ||||
| ) |
Set the servo with servo_id to specified position and speed. Speed can be negative only if the dynamixel is in "freespin" mode.
Definition at line 557 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_punch | ( | self, | ||
| servo_id, | ||||
| punch | ||||
| ) |
Sets the limit value of torque being reduced when the output torque is decreased in the Compliance Slope area. In other words, it is the mimimum torque. The initial value is 32 (0x20) and can be extended up to 1023 (0x3FF). (Refer to Compliance margin & Slope)
Definition at line 496 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_return_delay_time | ( | self, | ||
| servo_id, | ||||
| delay | ||||
| ) |
Sets the delay time from the transmission of Instruction Packet until the return of Status Packet. 0 to 254 (0xFE) can be used, and the delay time per data value is 2 usec.
Definition at line 322 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_speed | ( | self, | ||
| servo_id, | ||||
| speed | ||||
| ) |
Set the servo with servo_id to the specified goal speed. Speed can be negative only if the dynamixel is in "freespin" mode.
Definition at line 523 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_torque_enabled | ( | self, | ||
| servo_id, | ||||
| enabled | ||||
| ) |
Sets the value of the torque enabled register to 1 or 0. When the torque is disabled the servo can be moved manually while the motor is still powered.
Definition at line 422 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_torque_limit | ( | self, | ||
| servo_id, | ||||
| torque | ||||
| ) |
Sets the value of the maximum torque limit for servo with id servo_id. Valid values are 0 to 1023 (0x3FF), and the unit is about 0.1%. For example, if the value is 512 only 50% of the maximum torque will be used. If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value.
Definition at line 542 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_voltage_limit_max | ( | self, | ||
| servo_id, | ||||
| max_voltage | ||||
| ) |
Set the maximum voltage limit. NOTE: the absolute min is 25v
Definition at line 386 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_voltage_limit_min | ( | self, | ||
| servo_id, | ||||
| min_voltage | ||||
| ) |
Set the minimum voltage limit. NOTE: the absolute min is 5v
Definition at line 372 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::set_voltage_limits | ( | self, | ||
| servo_id, | ||||
| min_voltage, | ||||
| max_voltage | ||||
| ) |
Set the min and max voltage limits. NOTE: the absolute min is 5v and the absolute max is 25v
Definition at line 400 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::sync_write | ( | self, | ||
| address, | ||||
| data | ||||
| ) |
Use Broadcast message to send multiple servos instructions at the
same time. No "status packet" will be returned from any servos.
"address" is an integer between 0 and 49. It is recommended to use the
constants in module dynamixel_const for readability. "data" is a tuple of
tuples. Each tuple in "data" must contain the servo id followed by the
data that should be written from the starting address. The amount of
data can be as long as needed.
To set servo with id 1 to position 276 and servo with id 2 to position
550, the method should be called like:
sync_write(DXL_GOAL_POSITION_L, ( (1, 20, 1), (2 ,38, 2) ))
Definition at line 175 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::test_bit | ( | self, | ||
| number, | ||||
| offset | ||||
| ) |
Definition at line 243 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::write | ( | self, | ||
| servo_id, | ||||
| address, | ||||
| data | ||||
| ) |
Write the values from the "data" list to the servo with "servo_id"
starting with data[0] at "address", continuing through data[n-1] at
"address" + (n-1), where n = len(data). "address" is an integer between
0 and 49. It is recommended to use the constants in module dynamixel_const
for readability. "data" is a list/tuple of integers.
To set servo with id 1 to position 276, the method should be called
like:
write(1, DXL_GOAL_POSITION_L, (20, 1))
Definition at line 136 of file dynamixel_io.py.
| def dynamixel_driver::dynamixel_io::DynamixelIO::write_packet | ( | self, | ||
| packet | ||||
| ) |
Definition at line 247 of file dynamixel_io.py.
Definition at line 65 of file dynamixel_io.py.