Public Member Functions | Public Attributes | Private Member Functions
robotis.lib_dynamixel.USB2Dynamixel_Device Class Reference
Inheritance diagram for robotis.lib_dynamixel.USB2Dynamixel_Device:
Inheritance graph

List of all members.

Public Member Functions

def __init__
def ping
def read_address
def reset_to_factory
def sync_write
def write_address

Public Attributes


Private Member Functions

def __calc_checksum
def _open_serial
def _process_err
def _read_serial
def _receive_reply
def _send_instruction
def _send_serial
def _write_serial

Detailed Description

Class that manages serial port contention between servos on same bus

Definition at line 40 of file

Constructor & Destructor Documentation

def robotis.lib_dynamixel.USB2Dynamixel_Device.__init__ (   self,
  dev_name = '/dev/ttyUSB0',
  baudrate = 57600 

Definition at line 43 of file

Member Function Documentation

Definition at line 108 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._open_serial (   self,
) [private]

Definition at line 51 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._process_err (   self,
) [private]
Process and raise errors received from the robotis servo.

Definition at line 132 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._read_serial (   self,
  nBytes = 1 
) [private]
Reads data from the servo

Definition at line 82 of file

Reads the status packet returned by the servo

Definition at line 88 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._send_instruction (   self,
  status_return = True 
) [private]
Fills out packet metadata, manages mutex, sends packet, and handles response.

Definition at line 112 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._send_serial (   self,
) [private]
sends the command to the servo

Definition at line 76 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device._write_serial (   self,
) [private]

Definition at line 72 of file

pings servo at id

Definition at line 168 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device.read_address (   self,
  nBytes = 1 
reads nBytes from address on the servo at id.
    returns [n1,n2 ...] (list of parameters)

Definition at line 153 of file

Send the reset instruction to the servo at id.
   This will return the servo to ID 1 with a baudrate of 57600,
   and reset the EEPROM to factory defaults.  REQUIRES CONFIRMATION.

Definition at line 174 of file

writes data to address 0xFE (254), the broadcast address.
   sends data to all servos on a bus

Definition at line 190 of file

def robotis.lib_dynamixel.USB2Dynamixel_Device.write_address (   self,
writes data at the address on the servo of id.
    data = [n1,n2 ...] list of numbers.
    return [n1,n2 ...] (list of return parameters)

Definition at line 160 of file

Member Data Documentation

Definition at line 43 of file

Definition at line 43 of file

The documentation for this class was generated from the following file:

Author(s): Travis Deyle, Advait Jain, Marc Killpack, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:37:53