robotis.lib_dynamixel.USB2Dynamixel_Device Class Reference

Inheritance diagram for robotis.lib_dynamixel.USB2Dynamixel_Device:

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
	dev_name
	servo_dev
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

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Detailed Description

Class that manages serial port contention between servos on same bus

Definition at line 40 of file lib_dynamixel.py.

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Constructor & Destructor Documentation

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

Definition at line 43 of file lib_dynamixel.py.

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Member Function Documentation

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

Definition at line 108 of file lib_dynamixel.py.

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

Definition at line 51 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device._process_err	(		self,
			err,
			id
	)		[private]

Process and raise errors received from the robotis servo.

Definition at line 132 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device._read_serial	(		self,
			nBytes = 1
	)		[private]

Reads data from the servo

Definition at line 82 of file lib_dynamixel.py.

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

Reads the status packet returned by the servo

Definition at line 88 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device._send_instruction	(		self,
			instruction,
			id,
			status_return = True
	)		[private]

Fills out packet metadata, manages mutex, sends packet, and handles response.

Definition at line 112 of file lib_dynamixel.py.

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

sends the command to the servo

Definition at line 76 of file lib_dynamixel.py.

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

Definition at line 72 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device.ping	(		self,
			id
	)

pings servo at id

Definition at line 168 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device.read_address	(		self,
			id,
			address,
			nBytes = 1
	)

reads nBytes from address on the servo at id.
    returns [n1,n2 ...] (list of parameters)

Definition at line 153 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device.reset_to_factory	(		self,
			id
	)

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 lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device.sync_write	(		self,
			data
	)

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

Definition at line 190 of file lib_dynamixel.py.

def robotis.lib_dynamixel.USB2Dynamixel_Device.write_address	(		self,
			id,
			address,
			data
	)

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 lib_dynamixel.py.

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Member Data Documentation

robotis::lib_dynamixel.USB2Dynamixel_Device::dev_name

Definition at line 43 of file lib_dynamixel.py.

robotis::lib_dynamixel.USB2Dynamixel_Device::servo_dev

Definition at line 43 of file lib_dynamixel.py.

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

• lib_dynamixel.py