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.__init__ | ( | self, | |
| port, | |||
| baudrate | |||
| ) |
Constructor takes serial port and baudrate as arguments.
Definition at line 62 of file dynamixel_io.py.
Destructor calls DynamixelIO.close
Definition at line 74 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.__read_response | ( | self, | |
| servo_id | |||
| ) | [private] |
Definition at line 92 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.__write_serial | ( | self, | |
| data | |||
| ) | [private] |
Definition at line 87 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.close | ( | self | ) |
Be nice, close the serial port.
Definition at line 78 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.exception_on_error | ( | self, | |
| error_code, | |||
| servo_id, | |||
| command_failed | |||
| ) |
Definition at line 878 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 779 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.get_drive_mode | ( | self, | |
| servo_id | |||
| ) |
Reads the servo's drive mode.
Definition at line 794 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 840 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 765 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.get_model_number | ( | self, | |
| servo_id | |||
| ) |
Servo status access functions #.
Reads the servo's model number (e.g. 12 for AX-12+).
Definition at line 758 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 815 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 772 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 823 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.get_voltage | ( | self, | |
| servo_id | |||
| ) |
Reads the servo's voltage.
Definition at line 833 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.get_voltage_limits | ( | self, | |
| servo_id | |||
| ) |
Returns the min and max voltage limits from the specified servo.
Definition at line 801 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 215 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 109 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 301 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 289 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 313 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 269 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 411 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 400 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 422 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 443 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 433 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 453 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_d_gain | ( | self, | |
| servo_id, | |||
| d_gain | |||
| ) |
Sets the value of derivative action of PID controller. Gain value is in range 0 to 254.
Definition at line 463 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_drive_mode | ( | self, | |
| servo_id, | |||
is_slave = False, |
|||
is_reverse = False |
|||
| ) |
Sets the drive mode for EX-106 motors
Definition at line 328 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_i_gain | ( | self, | |
| servo_id, | |||
| i_gain | |||
| ) |
Sets the value of integral action of PID controller. Gain value is in range 0 to 254.
Definition at line 473 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_id | ( | self, | |
| old_id, | |||
| new_id | |||
| ) |
These function modify EEPROM data which persists after power cycle #.
Sets a new unique number to identify a motor. The range from 1 to 253 (0xFD) can be used.
Definition at line 259 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_margin_ccw | ( | self, | |
| valueTuples | |||
| ) |
Set different CCW compliance margin for multiple servos. Should be called as such: set_multi_compliance_margin_ccw( ( (id1, margin1), (id2, margin2), (id3, margin3) ) )
Definition at line 600 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_margin_cw | ( | self, | |
| valueTuples | |||
| ) |
Set different CW compliance margin for multiple servos. Should be called as such: set_multi_compliance_margin_cw( ( (id1, margin1), (id2, margin2), (id3, margin3) ) )
Definition at line 592 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_margins | ( | self, | |
| valueTuples | |||
| ) |
Set different CW and CCW compliance margins for multiple servos. Should be called as such: set_multi_compliance_margins( ( (id1, cw_margin1, ccw_margin1), (id2, cw_margin2, ccw_margin2) ) )
Definition at line 608 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_slope_ccw | ( | self, | |
| valueTuples | |||
| ) |
Set different CCW compliance slope for multiple servos. Should be called as such: set_multi_compliance_slope_ccw( ( (id1, slope1), (id2, slope2), (id3, slope3) ) )
Definition at line 624 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_slope_cw | ( | self, | |
| valueTuples | |||
| ) |
Set different CW compliance slope for multiple servos. Should be called as such: set_multi_compliance_slope_cw( ( (id1, slope1), (id2, slope2), (id3, slope3) ) )
Definition at line 616 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_compliance_slopes | ( | self, | |
| valueTuples | |||
| ) |
Set different CW and CCW compliance slopes for multiple servos. Should be called as such: set_multi_compliance_slopes( ( (id1, cw_slope1, ccw_slope1), (id2, cw_slope2, ccw_slope2) ) )
Definition at line 632 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_position | ( | self, | |
| valueTuples | |||
| ) |
Set different positions for multiple servos. Should be called as such: set_multi_position( ( (id1, position1), (id2, position2), (id3, position3) ) )
Definition at line 659 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_position_and_speed | ( | self, | |
| valueTuples | |||
| ) |
Set different positions and speeds for multiple servos. Should be called as such: set_multi_position_and_speed( ( (id1, position1, speed1), (id2, position2, speed2), (id3, position3, speed3) ) )
Definition at line 723 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_punch | ( | self, | |
| valueTuples | |||
| ) |
Set different punch values for multiple servos. NOTE: according to documentation, currently this value is not being used. Should be called as such: set_multi_punch( ( (id1, punch1), (id2, punch2), (id3, punch3) ) )
Definition at line 640 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_speed | ( | self, | |
| valueTuples | |||
| ) |
Set different speeds for multiple servos. Should be called as such: set_multi_speed( ( (id1, speed1), (id2, speed2), (id3, speed3) ) )
Definition at line 679 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_torque_enabled | ( | self, | |
| valueTuples | |||
| ) |
These functions can send multiple commands to multiple servos # These commands are used in ROS wrapper as they don't send a # response packet, ROS wrapper gets motor states at a set rate #.
Method to set multiple servos torque enabled. Should be called as such: set_multi_servos_to_torque_enabled( (id1, True), (id2, True), (id3, True) )
Definition at line 583 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_multi_torque_limit | ( | self, | |
| valueTuples | |||
| ) |
Set different torque limits for multiple servos. Should be called as such: set_multi_torque_limit( ( (id1, torque1), (id2, torque2), (id3, torque3) ) )
Definition at line 705 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_p_gain | ( | self, | |
| servo_id, | |||
| p_gain | |||
| ) |
Sets the value of proportional action of PID controller. Gain value is in range 0 to 254.
Definition at line 483 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 507 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 554 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 493 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 278 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 520 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.set_torque_enabled | ( | self, | |
| servo_id, | |||
| enabled | |||
| ) |
These functions can send a single command to a single servo #.
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 389 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 539 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 353 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 339 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 367 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 182 of file dynamixel_io.py.
| def dynamixel_driver.dynamixel_io.DynamixelIO.test_bit | ( | self, | |
| number, | |||
| offset | |||
| ) |
Definition at line 250 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 143 of file dynamixel_io.py.
Definition at line 62 of file dynamixel_io.py.
Definition at line 62 of file dynamixel_io.py.
Definition at line 62 of file dynamixel_io.py.