pyHand_api.py

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#  pyHand_api.py
#  
#  ~~~~~~~~~~~~
#  
#
#  pyHand_api based on pyHand_api.py from Barrett Technology Hand Communications
#  
#  ~~~~~~~~~~~~
#  
# Software License Agreement (BSD License)
#
# Copyright (c) 2014, Robotnik Automation SLL
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Robotnik Automation SSL nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.


from pcan_python.pcan_library import *


from puck_properties_consts import*
from ctypes import *
import time

BASE_TYPE = 0
TIP_TYPE = 1
SPREAD_TYPE = 2
BASE_LIMIT = 140.0
TIP_LIMIT = 48.0
SPREAD_LIMIT = 180.0

HAND_GROUP = 0x405

# CAN MSG IDs
F1_POSITION = 0x563
F2_POSITION = 0x583
F3_POSITION = 0x5A3
SPREAD_POSITION = 0x5C3
F1_STRAIN       = 0x566
F2_STRAIN       = 0x586
F3_STRAIN       = 0x5A6
STRAIN_ID   = 0x99
F1_MOTOR_TEMP   = 0x566
F2_MOTOR_TEMP   = 0x586
F3_MOTOR_TEMP   = 0x5A6
SPREAD_MOTOR_TEMP       = 0x5C6
MOTOR_TEMP_ID   = 0x89
F1_MOTOR_THERM  = 0x566
F2_MOTOR_THERM  = 0x586
F3_MOTOR_THERM  = 0x5A6
SPREAD_MOTOR_THERM      = 0x5C6
MOTOR_THERM_ID   = 0x94
F1_TACT = 0x569
F2_TACT = 0x589
F3_TACT = 0x5A9
PALM_TACT = 0x5C9
TACT_ID = 0x40


#==========================CAN_STUFF=======================================

# Class pyHand based on library pyHand_api.py
class pyHand:
        
        def __init__(self, port = '/dev/pcan32'):
                '''
                Creates a PCANBasic object

                        @param port: CAN port used to communicate with the hand
                        @type connection: string
                '''
                
                self.PCAN = PCANBasic(port)
                
                self.motor_positions = {FINGER1: {'encoder': [0, 0], 'position': [0.0, 0.0]}, FINGER2: {'encoder': [0, 0], 'position': [0.0, 0.0]}, FINGER3: {'encoder': [0, 0], 'position': [0.0, 0.0]},
                SPREAD: {'encoder': [0, 0], 'position': [0.0, 0.0]}}
                self.strain = {FINGER1: 0, FINGER2: 0, FINGER3: 0}
                self.temp = {FINGER1:{ 'temp': 0.0, 'therm': 0.0}, FINGER2: { 'temp': 0.0, 'therm': 0.0}, FINGER3: { 'temp': 0.0, 'therm': 0.0},
                 SPREAD: { 'temp': 0.0, 'therm': 0.0}}
                self.tactile_sensor = {FINGER1: {'values': range(0,24), 'data': range(0,5)}, FINGER2: {'values': range(0,24), 'data': range(0,5)}, 
                FINGER3: {'values': range(0,24), 'data': range(0,5)}, SPREAD: {'values': range(0,24), 'data': range(0,5)}}
                
        def check_error(self, connection,result,location_of_error):
                '''
                Checks error on the CAN Bus.

                        @param connection: The connection on which the CAN is talking. For example, PCANBasic()
                        @type connection: PCANBasic
                        @param result: The number corresponding to the error returned.
                        @type resulr: int
                        @param location_of_error: A description of where the error occurred.
                        @type location_of_error: str
                '''
                if result == PCAN_ERROR_OK:
                        pass
                else:
                        raise Exception("Error Number: " + hex(result) + " while attempting to " + str(location_of_error) + "\n" + connection.GetErrorText(result)[1])

        def enum(self):
                '''
                Finds and returns all of the pucks that are attached to the bus.

                        @rtype: Array[]
                        @return: An array containing the pucks attached to the bus.
                '''
                pucks = []
                for i in range(32):
                        try:
                                self.get_property(i,1)
                                pucks.append(i)
                        except:
                                pass
                return pucks

        def can_reset(self):
                '''
                Resets the CAN connection.
                Note that this may cause a loss of data, but may also clear unwanted data. Utilize as needed.
                '''
                reset_result=self.PCAN.Reset(PCAN_USBBUS1)
                try:
                        self.check_error(self.PCAN,reset_result,"reset")
                except:
                        return False
                time.sleep(0.025)
                return True

        def can_status(self):
                '''
                Returns the status of the CAN connection as specified in PCANBasic's GetStatus method.
                '''
                status_result=self.PCAN.GetStatus(PCAN_USBBUS1)
                time.sleep(0.025)
                return status_result

        def can_init(self):
                '''
                Initializes the CAN connection. Note that this does not initialize the hand itself.
                '''
                # initialize self.PCAN bus
                init_result=self.PCAN.Initialize(PCAN_USBBUS1, PCAN_BAUD_1M)
                self.check_error(self.PCAN,init_result,"initialize")
                time.sleep(0.025)

        def can_uninit(self):
                '''
                Uninitializes the CAN connection. Rarely used.
                '''
                uninit_result=self.PCAN.Uninitialize(PCAN_USBBUS1)
                self.check_error(self.PCAN,uninit_result,"uninitialize")
                
        #============================INIT_STUFF==================================
                
        def initialize(self):
                '''
                Wakes up pucks and initializes the CAN.
                This function must be implemented at the beginning of a program for this library to properly work.

                        @rtype: ROLE
                        @return: First finger's ROLE property if initialization is successful. Otherwise it returns False.
                '''
                try:
                        self.can_init()
                        #Reset Can bus
                        self.can_reset()
                        time.sleep(0.025)
                        # wake up pucks by setting the STAT(5) property to READY(2)
                        self.set_property(0x400, 5, 2)
                        time.sleep(1)
                        self.can_reset()
                        
                        return True
                except:
                        return False

        def init_hand(self):
                '''
                Initialize all pucks in the hand.

                        @rtype: Boolean
                        @return: Succesfully Initialized Hand?
                '''
                try:
                        #write 13 to the command property (CMD-29) of each of the pucks.
                        self.init_finger(FINGER1)
                        self.init_finger(FINGER2)
                        self.init_finger(FINGER3)
                        time.sleep(3)
                        self.init_finger(SPREAD)
                        time.sleep(2)
                        
                        #self.can_reset()
                        self.get_property(FINGER1, ROLE)
                        return True
                except:
                        #self.can_reset()
                        
                        return False

        def init_finger(self, msgID):
                '''
                Sends a command to the puck to wake up the motor attatched to the puck.

                        @param msgID: The id of the finger to initialize.
                        @type msgID: int
                '''
                self.set_property(msgID, CMD, CMD_HI)

        #============================SET_AND_GET_STUFF=========================

        def read_msg(self):
                '''
                Read a general message from PCAN_USBBUS1
                Typically, msg[1] (where msg is the thing returned), contains the pertinent information.

                        @rtype: (TPCANStatus, TPCANMsg, TPCANTimestamp)
                        @return: A tuple containing the status, message, and timestamp.
                '''
                return self.PCAN.Read(PCAN_USBBUS1)

        #def write_msg(self, msgID, data, delay=.015):
        
        def write_msg(self, msgID, data, delay=.002):
                '''
                Send a general message to PCAN_USBBUS1. This can be a get, set, or even garbage.

                        @param msgID: The puck or group to which the message will be sent.
                        @type msgID: int
                        @param data: The array containing the data for the TPCANMsg.
                        @type data: Array[]
                        @param delay: The time delay to wait for the message to be written.
                        @type delay: float
                        @rtype: TPCANStatus
                        @return: Status of the self.PCAN bus.
                '''
                msg = TPCANMsg()
                msg.ID = msgID
                msg.LEN = len(data)
                msg.MSGTYPE = PCAN_MESSAGE_STANDARD
                for j in range(0, len(data)):
                        msg.DATA[j] = data[j]
                stat = self.PCAN.Write(PCAN_USBBUS1, msg)
                self.check_error(self.PCAN,stat,"write")
                time.sleep(delay)
                return stat
        
        
        def send_msg(self, msgID, data):
                '''
                        Send a general message to PCAN_USBBUS1. This can be a get, set, or even garbage.
                        It does not apply any sleep
                        
                        @param msgID: The puck or group to which the message will be sent.
                        @type msgID: int
                        @param data: The array containing the data for the TPCANMsg.
                        @type data: Array[]
                        
                        @return the return status after writing in the bus
                '''
                msg = TPCANMsg()
                msg.ID = msgID
                msg.LEN = len(data)
                msg.MSGTYPE = PCAN_MESSAGE_STANDARD
                for j in range(0, len(data)):
                        msg.DATA[j] = data[j]
                stat = self.PCAN.Write(PCAN_USBBUS1, msg)
                self.check_error(self.PCAN,stat,"write")
                
                return stat

        def set_property(self, msgID, propID, value):
                '''
                Set property to a given value.

                        @param msgID: The puck or group whose property will be set.
                        @type msgID: int
                        @param propID: The number corresponding to the property to be set.
                        @type propID: int
                        @param value: The value to which the property will be set.
                        @type value: int
                '''
                is32bits = [48, 50, 52, 54, 56, 58, 66, 68, 74, 88, 96, 98]
                if propID in is32bits:
                        self.set_32(msgID, propID, value)
                else:
                        self.set_16(msgID, propID, value)
                        
        def set_32(self, msgID, propID, value):
                '''
                Set property to a given value for a 32 bit property.
                Avoid usage of this method. Use self.set_property instead.

                        @param msgID: The puck or group whose property will be set.
                        @type msgID: int
                        @param propID: The number corresponding to the property to be set.
                        @type propID: int
                        @param value: The value to which the property will be set.
                        @type value: int
                '''
                data = [0x80+propID, 0, value%0x100, int(value/0x100)%0x100, int(value/0x10000)%0x100, int(value/0x1000000)]
                #self.write_msg(msgID, data)
                return self.send_msg(msgID, data)

        def set_16(self, msgID, propID, value):
                '''
                Set property to a given value for a 16 bit property.
                Avoid usage of this method. Use self.set_property instead.
                
                        @param msgID: The puck or group whose property will be set.
                        @type msgID: int
                        @param propID: The number corresponding to the property to be set.
                        @type propID: int
                        @param value: The value to which the property will be set.
                        @type value: int
                '''
                data = [0x80+propID, 0, value%256, int(value/256)]
                #self.write_msg(msgID, data)
                return self.send_msg(msgID, data)


        # TODO: Allow a "GET" from a group.
        def get_property(self, msgID, propID):
                '''
                Get property from pucks in msgID.

                        @param msgID: The puck whose property will be read from.
                        @type msgID: int
                        @param propID: The property be read from.
                        @type propID: int
                        @rtype: int
                        @return: The value held in the property.
                '''
                is32bits = [48, 50, 52, 54, 56, 58, 66, 68, 74, 88, 96, 98]
                if propID in is32bits:
                        return self.get_32(msgID, propID)
                else:
                        if propID == TACT:
                                return self.get_tact(msgID)
                        return self.get_16(msgID, propID)


        def get_32(self, msgID, propID):
                '''
                Gets a 32 bit property. Please use get_property instead of this method where applicable.

                        @param msgID: The puck whose property will be read from.
                        @type msgID: int
                        @param propID: The property be read from.
                        @type propID: int
                        @rtype: int
                        @return: The value held in the property.
                '''
                self.write_msg(msgID, [propID])
                time.sleep(0.005)
                read_result = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN, read_result[0], "read")
                data = read_result[1].DATA
                value = (0x1000000 * data[5]) + (0x0010000 * data[4]) + (0x0000100 * data[3]) + (0x0000001 * data[2])
                return value


        def get_16(self, msgID, propID):
                '''
                Gets a 16 bit property. Please use get_property instead of this method where applicable.
                
                        @param msgID: The puck whose property will be read from.
                        @type msgID: int
                        @param propID: The property be read from.
                        @type propID: int
                        @rtype: int
                        @return: The value held in the property.
                '''
                self.write_msg(msgID, [propID])
                time.sleep(0.005)
                #time.sleep(0.005)
                read_result = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN, read_result[0], "read")
                data = read_result[1].DATA
                value =(0x0000100 * data[3]) + (0x0000001 * data[2])
                return value

                
        def save_property(self, msgID, propID):
                '''
                Save a property.

                        @param msgID: The puck or group to have its property saved.
                        @type msgID: int
                        @param propID: The property to be saved.
                        @type propID: int
                '''
                self.set_property(msgID, SAVE, propID)


        def load_property(self, msgID, propID):
                '''
                Load a property's value for puck's flash memory.

                        @param msgID: The puck or group to have its property loaded.
                        @type msgID: int
                        @param propID: The property to be loaded.
                        @type propID: int
                '''
                self.set_property(msgID, LOAD, propID)
                
        def get_prop_quick(self, msgID,propID,speed):
                '''
                Gets a property timed at a certain rate.

                        @param msgID: The puck or group to have its property gotten.
                        @type msgID: int
                        @param propID: The property to be saved.
                        @type propID: int
                        @param speed: The time delay for the get.
                        @type speed: float
                '''
                self.write_msg(msgID, [propID],speed)
                read_result=self.read_msg_resilient(msgID,propID)
                self.check_error(self.PCAN, read_result[0], "read")
                data = read_result[1].DATA
                value = (0x1000000 * data[5]) + (0x0010000 * data[4]) + (0x0000100 * data[3]) + (0x0000001 * data[2])
                return value

        def read_msg_resilient(self, expect_puck,expect_prop,max_recurse=10,counter=0):
                '''
                Reads message given the puckID and the propertyID. 
                It will read as normal, until it gets some expected output from the puck.

                        @param expect_puck: The puck to read from.
                        @type expect_puck: int
                        @param expect_prop: The property read from.
                        @type expect_prop: int
                        @param max_recurse: The most number of times to repeat the get.
                        @type max_recurse: int
                        @param counter: Used internally. Do not set.
                        @type counter: int
                        @rtype: int
                        @return: The value held in the property of the given puck.
                '''
                counter+=1
                response=self.PCAN.Read(PCAN_USBBUS1)
                received_prop=response[1].DATA[0]-128
                received_puck=(response[1].ID-1024)>>5
                
                if (received_prop==expect_prop) and (received_puck==expect_puck):
                        return response
                else:
                        print "a"
                        if counter<max_recurse:
                                return self.read_msg_resilient(expect_puck,expect_prop,counter=counter)
                        else:
                                raise Exception("Missed message")

        def get_role(self, msgID):
                '''
                Read from ROLE property and return something that makes sense.
                Returns an array of holding the following data:

                [4-bit Product Identifier,
                Internal Thermistor,
                20 MHz (vs 32 MHz),
                Hall Motor Encoder,
                Enc Motor Encoder,
                Strain Gauge,
                IMU for Force-Torque Sensor,
                Optical Motor Encoder]

                        @param msgID: The puck to get the ROLE from.
                        @type msgID: int
                        @rtype: Array[int,bool,bool,bool,bool,bool,bool,bool]
                        @return: An array holding the above values.
                '''
                role = self.get_property(msgID, 1)
                data= [0,0,0,0,0,0,0,0,0]
                data[0] = role%16               # 4-bit Product Identifier
                data[1] = int(role/2**6)%2==1   # Internal Thermistor Bit
                data[2] = int(role/2**7)%2==1   # 20 MHz (vs 32 MHz)
                data[3] = int(role/2**8)%2==1   # Is there a Dig+Ser Motor Encoder?
                data[4] = int(role/2**9)%2==1   # Is there a Hall Motor Encoder?
                data[5] = int(role/2**10)%2==1  # Is there an Enc Motor Encoder?
                data[6] = int(role/2**11)%2==1  # Is there a Strain Gauge?
                data[7] = int(role/2**12)%2==1  # IMU for Force-Torque Sensor
                data[8] = int(role/2**13)%2==1  # Optical Motor Encoder
                return data

        def get_mode(self, msgID):
                '''
                Read from MODE property, and return a tuple with the number corresponding to the mode, along with
                the string name of the mode.

                        @param msgID: The puck from which to get the mode.
                        @type msgID: int
                        @rtype: Tuple(int, str)
                        @return: A tuple with the number and name of the mode.
                '''
                m = self.get_property(msgID, MODE)
                if m==MODE_IDLE:
                        return (MODE_IDLE, "IDLE")
                elif m==MODE_TORQUE:
                        return (MODE_TORQUE, "TORQUE")
                elif m==MODE_PID:
                        return (MODE_PID, "PID")
                elif m==MODE_VEL:
                        return (MODE_VEL, "VEL")
                elif m==MODE_TRAP:
                        return (MODE_TRAP, "TRAP")
                else:
                        print "Invalid get_mode() operation: "+str(m)
                        return (m, "???")

        def set_mode(self, msgID, value):
                '''
                Set the mode property using either strings or numbers.

                        @param msgID: The puck or group to set the mode.
                        @type msgID: int
                        @param value: The value to which the mode should be set.
                        @type value: int
                '''
                modes = {"IDLE":MODE_IDLE, "TORQUE":MODE_TORQUE, "PID":MODE_PID, "VEL":MODE_VEL, "TRAP":MODE_TRAP}
                m = value
                if m in modes:
                        m = modes[m]
                self.set_property(msgID, MODE, m)
                
        # I'm sorry that this method is so unbearably long, but it won't compile otherwise because of circular imports TT_TT
        def set_puck_like(self, puckID, virtID):
                '''
                Set the puck to have all the default properties of the indicated puck ID.

                        @param puckID: The original puck to change.
                        @type puckID: int
                        @param virtID: The ID of the puck to load defaults from.
                        @type virtID: int
                '''
                self.set_property(puckID, MODE, MODE_IDLE)
                # Set universal puck properties. (taterDefs[])
                # if virtID in range(1,8)
                #     self.set_property(puckID, TIE, 0)
                #     self.set_property(puckID, ACCEL, 100)
                #     self.set_property(puckID, AP, 0)
                #     self.set_property(puckID, CT, 4096)
                #     self.set_property(puckID, OT, 0)
                #     self.set_property(puckID, CTS, 4096)
                #     self.set_property(puckID, DP, 0)
                #     self.set_property(puckID, MV, 100)
                #     self.set_property(puckID, MCV, 100)
                #     self.set_property(puckID, MOV, 100)
                #     self.set_property(puckID, OT, 0)
                #     self.set_property(puckID, HOLD, 0)
                #     self.set_property(puckID, TSTOP, 0)
                #     self.set_property(puckID, OTEMP, 60)
                #     self.set_property(puckID, PTEMP, 0)
                #     self.set_property(puckID, DS, -256)
                #     self.set_property(puckID, KP, 2000)
                #     self.set_property(puckID, KD, 8000)
                #     self.set_property(puckID, KI, 0)
                        #wamDefaultMT has yet to be implemented correctly. The interns coding this don't really care about the WAM, so this will be put off until someone does.
                
                #Set Barrett Hand Defaults
                is_280 = self.get_property(puckID, HALLH)==7 #Identifier for 280 version
                if virtID in [FINGER1, FINGER2, FINGER3, SPREAD]:
                        self.set_property(puckID, JIDX, virtID-3)
                        self.save_property(puckID, JIDX)
                        self.set_property(puckID, PIDX, virtID-10)
                        self.save_property(puckID, PIDX)
                        self.set_property(puckID, TIE, 0)
                        self.save_property(puckID, TIE)
                        self.set_property(puckID, ACCEL, 200)
                        self.save_property(puckID, ACCEL)
                        #self.set_property(puckID, AP, 0)
                        #self.save_property(puckID, AP)
                        self.set_property(puckID, OT, 0)
                        self.save_property(puckID, OT)
                        self.set_property(puckID, CTS, 4096)
                        self.save_property(puckID, CTS)
                        self.set_property(puckID, MT, 2200)
                        self.save_property(puckID, MT)
                        self.set_property(puckID, MCV, 200)
                        self.save_property(puckID, MCV)
                        self.set_property(puckID, MOV, 200)
                        self.save_property(puckID, MOV)
                        self.set_property(puckID, OTEMP, 60)
                        self.save_property(puckID, OTEMP)
                        self.set_property(puckID, PTEMP, 0)
                        self.save_property(puckID, PTEMP)
                        self.set_property(puckID, POLES, 6)
                        self.save_property(puckID, POLES)
                        self.set_property(puckID, IKCOR, 102)
                        self.save_property(puckID, IKCOR)
                        self.set_property(puckID, IOFF, 0)
                        self.save_property(puckID, IOFF)
                        self.set_property(puckID, IVEL, -75)
                        self.save_property(puckID, IVEL)
                        self.set_property(puckID, DS, 25600)
                        self.save_property(puckID, DS)
                        self.set_property(puckID, KI, 0)
                        self.save_property(puckID, KI)
                        self.set_property(puckID, IPNM, 20000)
                        self.save_property(puckID, IPNM)
                        self.set_property(puckID, GRPA, 0)
                        self.save_property(puckID, GRPA)
                        self.set_property(puckID, GRPB, 7)
                        self.save_property(puckID, GRPB)
                        self.set_property(puckID, GRPC, 5)
                        self.save_property(puckID, GRPC)
                        self.set_property(puckID, IKI, 204)
                        self.save_property(puckID, IKI)
                        self.set_property(puckID, IKP, 500)
                        self.save_property(puckID, IKP)
                        if virtID == SPREAD:
                                self.set_property(puckID, CT, 35950)
                                self.save_property(puckID, CT)
                                self.set_property(puckID, DP, 17975)
                                self.save_property(puckID, DP)
                                self.set_property(puckID, MV, 50)
                                self.save_property(puckID, MV)
                                self.set_property(puckID, HSG, 0)
                                self.save_property(puckID, HSG)
                                self.set_property(puckID, LSG, 0)
                                self.save_property(puckID, LSG)
                                self.set_property(puckID, HOLD, 1)
                                self.save_property(puckID, HOLD)
                                self.set_property(puckID, TSTOP, 150)
                                self.save_property(puckID, TSTOP)
                                self.set_property(puckID, KP, 1000)
                                self.save_property(puckID, KP)
                                self.set_property(puckID, KD, 10000)
                                self.save_property(puckID, KD)
                        else:
                                self.set_property(puckID, CT, 195000)
                                self.save_property(puckID, CT)
                                self.set_property(puckID, DP, 45000)
                                self.save_property(puckID, DP)
                                self.set_property(puckID, MV, 200)
                                self.save_property(puckID, MV)
                                self.set_property(puckID, HSG, 0)
                                self.save_property(puckID, HSG)
                                self.set_property(puckID, LSG, 0)
                                self.save_property(puckID, LSG)
                                self.set_property(puckID, HOLD, 0)
                                self.save_property(puckID, HOLD)
                                self.set_property(puckID, TSTOP, 50)
                                self.save_property(puckID, TSTOP)
                                self.set_property(puckID, KP, 500)
                                self.save_property(puckID, KP)
                                self.set_property(puckID, KD, 2500)
                                self.save_property(puckID, KD)
                else:
                        print "Invalid Puck Id for Hand"
                
        #============================MOVING_STUFF================================

        def set_hand_targets(self, f1_target, f2_target, f3_target, sp_target):
                '''
                Given fingers and spread target values, move the hand to that position.
                Will mainly be used to load user-defined hand positions.
                Takes Barrett Units as inputs.

                        @param f1_target: The position (in encoder ticks) for finger 1 to move to.
                        @type f1_target: int
                        @param f2_target: The position for finger 2 to move to.
                        @type f2_target: int
                        @param f3_target: The position for finger 3 to move to.
                        @type f3_target: int
                        @param sp_target: The position for spread to move to.
                        @type sp_target: int
                '''
                self.set_property(FINGER1, DP, f1_target)
                self.set_property(FINGER2, DP, f2_target)
                self.set_property(FINGER3, DP, f3_target)
                tar = self.get_position(SPREAD)
                self.set_property(SPREAD, DP, tar)
                self.set_property(0x405, CMD, CMD_MOVE)
                time.sleep(2)
                self.set_property(SPREAD, DP, sp_target)
                self.set_property(SPREAD, CMD, CMD_MOVE)
                time.sleep(1)

        def move_to(self, puckID, target, autowait=True):
                '''
                Move the motor to a specific position.

                        @param puckID: The puck to move.
                        @type puckID: int
                        @param target: The end position to move to.
                        @type target: int
                        @param autowait: Does the program wait until the motor is done moving?
                        @type autowait: bool
                '''
                self.set_property(puckID, M, target)
                if autowait:
                        self.wait_done_moving([puckID])

        def done_moving(self, motors_to_check=ALL_FINGERS):
                '''
                Checks a given list of motors once to see if they have stopped moving, and if so, it returns true

                        @param motors_to_check: A list of motors to check.
                        @type motors_to_check: Array[*int]
                        @rtype: bool
                        @return: Whether or not the motors are done moving.
                '''
                for FINGER in motors_to_check:
                        if (self.get_mode(FINGER)[1]!="IDLE" and (self.get_mode(FINGER)[1]!="PID" or self.get_property(FINGER,77)==0)):
                                return False
                return True

        # TODO: Ensure that TSTOP > 0. Otherwise, this may be an infinite loop.
        def wait_done_moving(self, motors_to_check=ALL_FINGERS):
                '''
                Waits until the given list of motors have all stopped moving.

                        @param motors_to_check: A list of motors to wait for.
                        @type motors_to_check: Array[*int]
                '''
                while(not self.done_moving(motors_to_check)):
                        time.sleep(0.025)

        def detect_breakaway(self, finger):
                '''

                        @return: True if the finger has broken away, False if it hasn't
                '''
                tup = self.get_packed_position(finger)
                ratio = tup[0]/tup[1]
                return (ratio>3)

        def open_grasp(self):
                '''
                Opens all fingers to the position encoded by Open Target (OT)
                '''
                self.set_property(0x405, TSTOP, 50)
                self.set_property(SPREAD, TSTOP, 150)

                open_target=self.get_property(FINGER1,OT)
                self.set_property(FINGER1,DP,open_target)
                
                open_target=self.get_property(FINGER2,OT)
                self.set_property(FINGER2,DP,open_target)
                
                open_target=self.get_property(FINGER3,OT)
                self.set_property(FINGER3,DP,open_target)

                spread_stay=self.get_position(SPREAD)
                self.set_property(SPREAD,DP,spread_stay)
                
                self.set_property(0x405,CMD,CMD_MOVE)
                self.wait_done_moving(GRASP)

        def close_grasp(self):
                '''
                Closes all fingers to the position encoded by Close Target (CT).
                '''
                self.set_property(0x405, TSTOP, 50)
                self.set_property(SPREAD, TSTOP, 150)

                close_target=self.get_property(FINGER1,CT)
                self.set_property(FINGER1,DP,close_target)

                close_target=self.get_property(FINGER2,CT)
                self.set_property(FINGER2,DP,close_target)

                close_target=self.get_property(FINGER3,CT)
                self.set_property(FINGER3,DP,close_target)

                spread_stay=self.get_position(SPREAD)
                self.set_property(SPREAD,DP,spread_stay)

                self.set_property(0x405,CMD,CMD_MOVE)
                self.wait_done_moving(GRASP)
                
        def open_spread(self):
                '''
                Open spread to position determined by Open Target (OT).
                '''
                self.set_property(SPREAD, TSTOP, 150)
                self.set_property(SPREAD, CMD, CMD_OPEN)
                self.wait_done_moving([SPREAD])

        def close_spread(self):
                '''
                Close spread to position determined by Close Target (CT).
                '''
                self.set_property(SPREAD, CMD, CMD_CLOSE)
                self.wait_done_moving([SPREAD])

        def open_finger(self, puckID, autowait=True):
                '''
                Open finger and wait for completion.

                        @param puckID: Finger to be opened.
                        @type puckID: int
                        @param autowait: calls wait_done_moving if True. Defaults to True.
                        @type autowait: bool
                '''
                if puckID in [FINGER1, FINGER2, FINGER3]:
                        self.set_property(puckID, TSTOP, 50)
                if puckID == SPREAD:
                        self.set_property(puckID, TSTOP, 150)
                self.set_property(puckID, CMD, CMD_OPEN)
                if autowait:
                        self.wait_done_moving([puckID])

        def close_finger(self, puckID, autowait=True):
                '''
                Close finger and wait for completion.

                @param puckID: Finger to be closed.
                @type puckID: int
                @param autowait: calls wait_done_moving if True. Defaults to True.
                @type autowait: bool
                '''
                if puckID in [FINGER1, FINGER2, FINGER3]:
                        self.set_property(puckID, TSTOP, 50)
                if puckID == SPREAD:
                        self.set_property(puckID, TSTOP, 150)
                self.set_property(puckID, CMD, CMD_CLOSE)
                if autowait:
                        self.wait_done_moving([puckID])

        def move_grasp(self, position = -1):
                '''
                Moves all fingers to input argument or default position (50).

                        @param position: position of fingers. Defaults to -1. Valid position range is from 0-195,000 encoder counts.
                        @type position: int
                '''
                default = self.get_position(SPREAD)
                self.set_property(SPREAD, DP, default)
                if(position != -1):
                        self.set_property(FINGER1, DP, position)
                        self.set_property(FINGER2, DP, position)
                        self.set_property(FINGER3, DP, position)        
                self.move()

        def move(self):
                '''
                Moves all fingers/spread to their default.
                '''
                self.set_property(0x405, CMD, CMD_MOVE)
                self.wait_done_moving(GRASP)

        def open_all(self):
                '''
                Opens every fingers at once. Mainly used in DEMO. WARNING: can be dangerous because it may cause fingers to collide if the hand is in an unknown position.
                '''
                open_target = self.get_property(FINGER1, OT)
                self.set_property(FINGER1, DP, open_target)
                open_target = self.get_property(FINGER2, OT)
                self.set_property(FINGER2, DP, open_target)
                open_target = self.get_property(FINGER3, OT)
                self.set_property(FINGER3, DP, open_target)
                open_target = self.get_property(SPREAD, OT)
                self.set_property(SPREAD, DP, open_target)
                self.move()

        def close_all(self):
                '''
                Closes every finger at once. Mainly for use in DEMO. WARNING: can be dangerous because it may cause fingers to collide if the hand is in an unknown position.
                '''
                close_target = self.get_property(FINGER1, CT)
                self.set_property(FINGER1, DP, close_target)
                close_target = self.get_property(FINGER2, CT)
                self.set_property(FINGER2, DP, close_target)
                close_target = self.get_property(FINGER3, CT)
                self.set_property(FINGER3, DP, close_target)
                close_target = self.get_property(SPREAD, CT)
                self.set_property(SPREAD, DP, close_target)
                self.move()

        #============================INCREMENTALLY_MOVE_STUFF========================
                
        def open_grasp_step(self, step=0):
                '''
                Open grasp by input increment.

                        @param step: size of increment in encoder counts. Defaults to 0.
                        @type step: int
                '''
                self.open_finger_step(FINGER1, step, False)
                self.open_finger_step(FINGER2, step, False)
                self.open_finger_step(FINGER3, step, False)
                self.wait_done_moving(GRASP)

        def close_grasp_step(self, step=0):
                '''
                Close grasp by input decrement.

                        @param step: size of decrement in encoder counts. Defaults to 0.
                        @type step: int
                '''
                self.close_finger_step(FINGER1, step, False)
                self.close_finger_step(FINGER2, step, False)
                self.close_finger_step(FINGER3, step, False)
                self.wait_done_moving(GRASP)

        def open_spread_step(self, step=-1):
                '''
                Open spread by input increment.

                        @param step: size of increment in encoder counts. Defaults to -1.
                        @type step: int
                '''
                if step == -1:
                        step = self.get_property(SPREAD, 60)
                self.open_finger_step(SPREAD, step)
                
        def close_spread_step(self, step=-1):
                '''
                Close spread by input decrement.

                        @param step: size of decrement in encoder counts. Defaults to -1.
                        @type step: int 
                '''
                if step == -1:
                        step = self.get_property(SPREAD, 60)
                self.close_finger_step(SPREAD, step)

        def open_finger_step(self, puckID, step=-1, autowait=True):
                '''
                Open finger by input increment.

                        @param puckID: Finger to be opened.
                        @type puckID: int
                        @param step: size of increment in encoder counts. Defaults to -1.
                        @type step: int
                        @param autowait: calls wait_done_moving if True. Defaults to True.
                        @type autowait: bool
                '''
                if step == -1:
                        step = self.get_property(puckID, 60)
                self.set_property(puckID, DS, step)
                self.set_property(puckID, CMD, CMD_IO)
                if autowait:
                        self.wait_done_moving([puckID])

        def close_finger_step(self, puckID, step=-1, autowait=True):
                '''
                Close finger by input decrement.

                        @param puckID: Finger to be closed.
                        @type puckID: int
                        @param step: size of decrement in encoder counts. Defaults to -1.
                        @type step: int
                        @param autowait: calls wait_done_moving if True. Defaults to True.
                        @type autowait: bool
                '''
                if step == -1:
                        step = self.get_property(puckID, 60)
                self.set_property(puckID, DS, step)
                self.set_property(puckID, CMD, CMD_IC)
                if autowait:
                        self.wait_done_moving([puckID])

        #===========================NON_TRIVIAL FUNCTIONS=============================
        def get_full_pos_packet(msgID):
                        self.write_msg(msgID, [P])
                        read_result=self.PCAN.Read(PCAN_USBBUS1)
                        return read_result
                        
        def get_velocity(self, msgID):
                '''
                Returns velocity values of finger when in motion. Mostly returns garbage. It's used to help tell when finger is stopped or near to it.

                        @param msgID: The puck or group to get velocity.
                        @type msgID: int
                        @rtype: float
                        @return: A (garbage) value representing the approximate velocity of the finger.
                '''     
                packet1=self.get_full_pos_packet(msgID)
                packet2=self.get_full_pos_packet(msgID)
                
                error1=packet1[0]
                error2=packet2[0]

                msg1=packet1[1]
                msg2=packet2[1]

                data1=msg1.DATA 
                data2=msg2.DATA

                time1=packet1[2]
                time2=packet2[2]
                
                stamp1=time1.micros + 1000 * time1.millis + 0xFFFFFFFF * 1000 * time1.millis_overflow
                stamp2=time2.micros + 1000 * time2.millis + 0xFFFFFFFF * 1000 * time2.millis_overflow

                delta=(stamp2-stamp1)/1000000.0
                
                self.check_error(self.PCAN,error1,"reading position for fake get_velocity")
                self.check_error(self.PCAN,error2,"reading position for fake get_velocity")

                val1=(0x0000100 * data1[3]) + (0x0000001 * data1[2])
                val2=(0x0000100 * data2[3]) + (0x0000001 * data2[2])
                
                return (val2-val1)/delta

        def get_temp(self, msgID):
                '''
                Gets temperature value for all pucks in msgID.

                        @param msgID: The puck or group to get temp.
                        @type msgID: int
                        @rtype: int
                        @return: The value of the TEMP property.
                '''
                return self.temp[msgID]['temp']
                
                
        def read_temp(self, msgID):
                '''
                Sends a message to get the temperature value for all pucks in msgID.

                        @param msgID: The puck or group to get temp.
                        @type msgID: int
                        @rtype: int
                        @return: The value of the TEMP property.
                '''
                return self.send_msg(msgID, [TEMP])

        def get_therm(self, msgID):
                '''
                Gets motor temperature value for all pucks in msgID. 

                        @param msgID: The puck or group to get motor temperature.
                        @text msgID: int
                        @rtype: int
                        @return: The value of the THERM property.
                '''
                return self.temp[msgID]['therm']
        
        def read_therm(self, msgID):
                '''
                Gets motor temperature value for all pucks in msgID. 

                        @param msgID: The puck or group to get motor temperature.
                        @text msgID: int
                        @rtype: int
                        @return: The value of the THERM property.
                '''
                return self.send_msg(msgID, [THERM])

        def get_top_tact(self, msgID):
                '''
                Unpack the top10 values from TACT.
                Returns a dictionary with 10 items like (sensor number):(tact value).

                        @param msgID: The puck or group to get top 10 tactile data.
                        @type msgID: int
                        @rtype: Dictionary{sensorID:value}
                        @return topVals: Dictionary of the top 10 tactile array sensor values. 
                '''
                # Set TACT(106) to top10 mode (1)
                self.set_property(msgID, TACT, TACT_10) 
                self.write_msg(msgID, [TACT]) #GET TACT
                read_result=self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result[0],"reading top ten tactile values")
                #output is mapped to here.
                output = read_result[1].DATA 
                #parsing this output
                top10 = output[0] * 0x10000 + output[1] * 0x100 + output[2] * 0x1
                topVals = {}
                data = [output[3]/(0x10), output[3]%(0x10), output[4]/(0x10), output[4]%(0x10), output[5]/(0x10), output[5]%(0x10)]
                count=0
                for sensor in range(0, 24):
                        if top10%2 == 1:
                                #print 'sensor = %d, count = %d'%(sensor, count)
                                topVals[sensor] = data[count]
                                count+=1
                        top10 = top10/2
                        # Each bit represents one of the top 10 pressures for purposes of efficiency. top10 has the last bit sliced
                return topVals

        def read_full_tact(self, msgID):
                '''
                        Read all tactile sensors
                '''
                return self.set_property(msgID, TACT, TACT_FULL) 

        def get_full_tact(self, msgID):
                '''
                Unpack all tactile sensor values in an array.

                        @param msgID: The puck or group to get full tactile array sensor data.
                        @type msgID: int
                        @rtype: Array[*data]
                        @return: An array containing the tactile data from a given puck.
                '''
                # Set TACT(106) to full mode (2)
                '''self.set_property(msgID, TACT, TACT_FULL) 
                #self.write_msg(msgID, [TACT])
                output = [0,0,0,0,0]
                read_result = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result[0],"reading full tactile data")
                read_result2 = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result2[0],"reading full tactile data")
                read_result3 = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result3[0],"reading full tactile data")
                read_result4 = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result4[0],"reading full tactile data")
                read_result5 = self.PCAN.Read(PCAN_USBBUS1)
                self.check_error(self.PCAN,read_result5[0],"reading full tactile data")
                
                output[0] = read_result[1].DATA
                output[1] = read_result2[1].DATA
                output[2] = read_result3[1].DATA
                output[3] = read_result4[1].DATA
                output[4] = read_result5[1].DATA
                
                #print 'Init: ID1 = %x,  ID2 = %x,  ID3 = %x,  ID4 = %x,  ID5 = %x'%(read_result[1].ID, read_result2[1].ID, read_result3[1].ID, read_result4[1].ID, read_result5[1].ID)
                tactileVals = range(0,24)
                index_ = 0
                for data in output:
                        index_ = int(data[0]/16) * 5
                        #print 'index = %d, data[0] = %x'%(index_, data[0])
                        # Get the bits and then unpack them.
                        tactileVals[index_ + 0] = round(((data[0]%0x10)*0x100 + data[1])/256.0,2)
                        tactileVals[index_ + 1] = round((data[2]*0x10 + int(data[3]/0x10))/256.0,2)
                        tactileVals[index_ + 2] = round(((data[3]%0x10)*0x100 + data[4])/256.0,2)
                        tactileVals[index_ + 3] = round((data[5]*0x10 + int(data[6]/0x10))/256.0,2)
                        if index_ != 20:
                                tactileVals[index_ + 4] = round(((data[6]%0x10)*0x100 + data[7])/256.0,2)
                #print 'Return OK : %s'%(tactileVals)
                return tactileVals'''
                
                return self.tactile_sensor[msgID]['values']


        def get_tact(self, msgID, topOrFull="TOP10"):
                '''
                Obtain and interpret tactile sensor data.

                        @param msgID: The puck or group to get full or top 10 tactile array sensor data.
                        @type msgID: int
                        @param topOrFull: To get full data, enter "FULL". To get the top 10 values, enter "TOP10". Or anything else, really.
                        @type topOrFull: str
                        @return 
                '''
                if topOrFull == "FULL":
                        return self.get_full_tact(msgID)
                else:
                        return self.get_top_tact(msgID)

        def set_velocity(self, puckID, velocity):
                '''
                Set the velocity and make the motor move.

                        @param puckID: The ID of the puck to set the velocity of.
                        @type puckID: int
                        @param velocity: The velocity (in cts/ms) of the motor.
                        @type velocity: int
                '''
                #First set TSTOP to 0.
                self.set_property(puckID, TSTOP, 0)
                #Set Velocity
                self.set_property(puckID, V, velocity)
                #Set mode to allow the puck to move.
                self.set_property(puckID, MODE, MODE_VEL)


        def get_strain(self, msgID):
                '''
                Gets the fingertip torque sensor value. 

                        @param msgID: The puck or group to get fingertip torque sensor data. 
                        @type msgID: int
                        @rtype: int
                        @return: Strain Gauge Reading
                '''
                return self.strain[msgID]
        
        
        def read_strain(self, msgID):
                '''
                Sends the message to get the fingertip torque sensor value. 

                        @param msgID: The puck or group to get fingertip torque sensor data. 
                        @type msgID: int
                        @rtype: int
                        @return: CAN status
                '''
                return self.send_msg(msgID, [SG])
                
        

        def onescomp(self, binstr):
                return ''.join('1' if b=='0' else '0' for b in binstr)

        def twoscomp(self, number):
                binstr= bin(number)[2:]
                a= bin(int(self.onescomp(binstr),2)+1)[2:]
                return -1*int(a,2)

        def get_position(self, msgID, depth=0):
                '''
                Get packed position data and return it.

                        @param msgID: The puck or group to get position data.
                        @type msgID: int
                        @rtype: int

                        @param depth: number of times get message was retried.
                        
                        @return: The position of the finger in encoder counts.
                '''
                if depth!=0:
                        self.write_msg(msgID, [P],.009)
                read_result=self.PCAN.Read(PCAN_USBBUS1)
                try:
                        self.check_error(self.PCAN,read_result[0],"getting position data")
                        received_puck=(read_result[1].ID-1024)>>5
                        if received_puck!=msgID:
                                raise Exception("Did not read expected MSGID")
                except:
                        if depth>10:
                                raise Exception("Failure to get position data.")
                        else:
                                return self.get_position(msgID, depth+1)

                output = read_result[1].DATA
                temp=(output[0]-0x80)*0x10000 + output[1] * 0x100 + output[2]

                if (temp & 0b1000000000000000000000): 
                        return self.twoscomp(temp)
                else:
                        return temp

        def get_packed_position(self, msgID):
                '''
                Get packed position data and return both P and JP.

                        @param msgID: The puck or group to get position data.
                        @type msgID: int
                        @rtype: (int, int)

                        @return: The position and joint position of the finger in encoder counts.
                                         Position in radians
                '''
                
                return  self.motor_positions[msgID]['position']
        
        
        def read_packed_position(self, msgID):
                '''
                Get packed position data and return both P and JP.

                        @param msgID: The puck or group to get position data.
                        @type msgID: int
                        @rtype: (int, int)

                        @return: sends a msg to read the position.
                '''
                
                return self.send_msg(msgID, [P])
                
        
        def process_can_messages(self):
                ''' 
                        Reads and process all the msgs in the bus
                        Depending on the CAN id, it'll use different methods
                '''
                ret = 0
                # Reads a can msg
                msg = self.read_msg()
                
                # No read messages
                if msg[0] != PCAN_ERROR_OK:
                        ret = -1
                
                while msg[0] == PCAN_ERROR_OK:
                        
                        can_id = msg[1].ID
                        #print 'process_can_messages: CAN ID = %x'%can_id
                        
                        if can_id in [F1_POSITION, F2_POSITION, F3_POSITION, SPREAD_POSITION]:
                                self.process_packed_position(msg[1])
                        elif can_id in [F1_STRAIN, F2_STRAIN, F3_STRAIN] and msg[1].DATA[0] == STRAIN_ID:
                                self.process_strain(msg[1])
                        elif can_id in [F1_MOTOR_TEMP, F2_MOTOR_TEMP, F3_MOTOR_TEMP, SPREAD_MOTOR_TEMP] and msg[1].DATA[0] == MOTOR_TEMP_ID:
                                self.process_motor_temp(msg[1])
                        elif can_id in [F1_MOTOR_THERM, F2_MOTOR_THERM, F3_MOTOR_THERM, SPREAD_MOTOR_THERM] and msg[1].DATA[0] == MOTOR_THERM_ID:
                                self.process_motor_therm(msg[1])
                        elif can_id in [F1_TACT, F2_TACT, F3_TACT, PALM_TACT]:
                                self.process_full_tact(msg[1])
                                
                        msg = self.read_msg()
                        
                return ret
        
        def process_packed_position(self, msg):
                '''
                        Process the CAN msgs and saves the position depending on the MSG ID
                '''
                data = msg.DATA
                pos = (data[0]-0x80)*0x10000 + data[1]*0x100 + data[2]
                jpos= (data[3]-0x80)*0x10000 + data[4]*0x100 + data[5]
                pos = self.twoscomp(pos) if pos & 0b1000000000000000000000 else pos
                jpos= self.twoscomp(jpos) if jpos & 0b1000000000000000000000 else jpos
                
                if msg.ID == F1_POSITION:
                        self.motor_positions[FINGER1]['encoder'][0] = pos
                        self.motor_positions[FINGER1]['encoder'][1] = jpos
                        self.motor_positions[FINGER1]['position'][0] = self.enc_to_rad(pos, BASE_TYPE)
                        self.motor_positions[FINGER1]['position'][1] = self.enc_to_rad(jpos, BASE_TYPE)
                        #print 'F1'
                        
                elif msg.ID == F2_POSITION:
                        self.motor_positions[FINGER2]['encoder'][0] = pos
                        self.motor_positions[FINGER2]['encoder'][1] = jpos
                        self.motor_positions[FINGER2]['position'][0] = self.enc_to_rad(pos, BASE_TYPE)
                        self.motor_positions[FINGER2]['position'][1] = self.enc_to_rad(jpos, BASE_TYPE)
                        #print 'F2'
                        
                elif msg.ID == F3_POSITION:
                        self.motor_positions[FINGER3]['encoder'][0] = pos
                        self.motor_positions[FINGER3]['encoder'][1] = jpos
                        self.motor_positions[FINGER3]['position'][0] = self.enc_to_rad(pos, BASE_TYPE)
                        self.motor_positions[FINGER3]['position'][1] = self.enc_to_rad(jpos, BASE_TYPE)
                        #print 'F3 = %f, %f'%(self.motor_positions[FINGER3]['position'][0], self.motor_positions[FINGER3]['position'][1])
                        #print 'F3'
                        
                elif msg.ID == SPREAD_POSITION:
                        self.motor_positions[SPREAD]['encoder'][0] = pos
                        self.motor_positions[SPREAD]['encoder'][1] = jpos
                        self.motor_positions[SPREAD]['position'][0] = self.enc_to_rad(pos, SPREAD_TYPE)
                        self.motor_positions[SPREAD]['position'][1] = self.enc_to_rad(jpos, SPREAD_TYPE)
                        #print 'SPREAD = %f, %f'%(self.motor_positions[SPREAD]['position'][0], self.motor_positions[SPREAD]['position'][1])
                        
        
        def process_strain(self, msg):
                '''
                        Process the msg and extract the strain value depending on the CAN ID
                '''
                data = msg.DATA
                value =(0x0000100 * data[3]) + (0x0000001 * data[2])
                
                if msg.ID == F1_STRAIN:
                        self.strain[FINGER1] = value
                if msg.ID == F2_STRAIN:
                        self.strain[FINGER2] = value
                if msg.ID == F3_STRAIN:
                        self.strain[FINGER3] = value
        
        def process_motor_temp(self, msg):
                '''
                        Process the msg and extract the temperature of the motor puck on the CAN ID
                '''
                data = msg.DATA
                value =(0x0000100 * data[3]) + (0x0000001 * data[2])
                
                if msg.ID == F1_MOTOR_TEMP:
                        self.temp[FINGER1]['temp'] = value
                        
                if msg.ID == F2_MOTOR_TEMP:
                        self.temp[FINGER2]['temp'] = value
                        
                if msg.ID == F3_MOTOR_TEMP:
                        self.temp[FINGER3]['temp'] = value
                        
                if msg.ID == SPREAD_MOTOR_TEMP:
                        self.temp[SPREAD]['temp'] = value
                        #print 'Motor Temp S'
                        
        def process_motor_therm(self, msg):
                '''
                        Process the msg and extract the temperature of the motor on the CAN ID
                '''
                data = msg.DATA
                value =(0x0000100 * data[3]) + (0x0000001 * data[2])
                
                if msg.ID == F1_MOTOR_THERM:
                        self.temp[FINGER1]['therm'] = value
                        
                if msg.ID == F2_MOTOR_THERM:
                        self.temp[FINGER2]['therm'] = value
                        
                if msg.ID == F3_MOTOR_THERM:
                        self.temp[FINGER3]['therm'] = value
                        
                if msg.ID == SPREAD_MOTOR_THERM:
                        self.temp[SPREAD]['therm'] = value
                        #print 'Motor Temp S'
        
        def process_full_tact(self, msg):
                '''
                        Process and saves all the messages containing the tactile information
                '''
                
                data = msg.DATA
                
                if msg.ID == F1_TACT:
                        if data[0] >= 0x00 and data[0] < 0x10:
                                self.tactile_sensor[FINGER1]['data'][0] = data                  
                        if data[0] >= 0x10 and data[0] < 0x20:
                                self.tactile_sensor[FINGER1]['data'][1] = data
                        if data[0] >= 0x20 and data[0] < 0x30:
                                self.tactile_sensor[FINGER1]['data'][2] = data
                        if data[0] >= 0x30 and data[0] < 0x40:
                                self.tactile_sensor[FINGER1]['data'][3] = data
                        if data[0] >= 0x40:
                                self.tactile_sensor[FINGER1]['data'][4] = data
                                self.tactile_sensor[FINGER1]['values'] = self.process_tactile_data(self.tactile_sensor[FINGER1]['data'])
                if msg.ID == F2_TACT:
                        if data[0] >= 0x00 and data[0] < 0x10:
                                self.tactile_sensor[FINGER2]['data'][0] = data                  
                        if data[0] >= 0x10 and data[0] < 0x20:
                                self.tactile_sensor[FINGER2]['data'][1] = data
                        if data[0] >= 0x20 and data[0] < 0x30:
                                self.tactile_sensor[FINGER2]['data'][2] = data
                        if data[0] >= 0x30 and data[0] < 0x40:
                                self.tactile_sensor[FINGER2]['data'][3] = data
                        if data[0] >= 0x40:
                                self.tactile_sensor[FINGER2]['data'][4] = data
                                self.tactile_sensor[FINGER2]['values'] = self.process_tactile_data(self.tactile_sensor[FINGER2]['data'])
                if msg.ID == F3_TACT:
                        if data[0] >= 0x00 and data[0] < 0x10:
                                self.tactile_sensor[FINGER3]['data'][0] = data                  
                        if data[0] >= 0x10 and data[0] < 0x20:
                                self.tactile_sensor[FINGER3]['data'][1] = data
                        if data[0] >= 0x20 and data[0] < 0x30:
                                self.tactile_sensor[FINGER3]['data'][2] = data
                        if data[0] >= 0x30 and data[0] < 0x40:
                                self.tactile_sensor[FINGER3]['data'][3] = data
                        if data[0] >= 0x40:
                                self.tactile_sensor[FINGER3]['data'][4] = data
                                self.tactile_sensor[FINGER3]['values'] = self.process_tactile_data(self.tactile_sensor[FINGER3]['data'])
                if msg.ID == PALM_TACT:
                        if data[0] >= 0x00 and data[0] < 0x10:
                                self.tactile_sensor[SPREAD]['data'][0] = data                   
                        if data[0] >= 0x10 and data[0] < 0x20:
                                self.tactile_sensor[SPREAD]['data'][1] = data
                        if data[0] >= 0x20 and data[0] < 0x30:
                                self.tactile_sensor[SPREAD]['data'][2] = data
                        if data[0] >= 0x30 and data[0] < 0x40:
                                self.tactile_sensor[SPREAD]['data'][3] = data
                        if data[0] >= 0x40:
                                self.tactile_sensor[SPREAD]['data'][4] = data
                                self.tactile_sensor[SPREAD]['values'] = self.process_tactile_data(self.tactile_sensor[SPREAD]['data'])
                                
        def process_tactile_data(self, data_array):
                '''
                        Process the array of data and returns a tactile array
                '''
                tactileVals = range(0,24)
                index_ = 0
                for data in data_array:
                        index_ = int(data[0]/16) * 5
                        #print 'index = %d, data[0] = %x'%(index_, data[0])
                        # Get the bits and then unpack them.
                        tactileVals[index_ + 0] = round(((data[0]%0x10)*0x100 + data[1])/256.0,2)
                        tactileVals[index_ + 1] = round((data[2]*0x10 + int(data[3]/0x10))/256.0,2)
                        tactileVals[index_ + 2] = round(((data[3]%0x10)*0x100 + data[4])/256.0,2)
                        tactileVals[index_ + 3] = round((data[5]*0x10 + int(data[6]/0x10))/256.0,2)
                        if index_ != 20:
                                tactileVals[index_ + 4] = round(((data[6]%0x10)*0x100 + data[7])/256.0,2)
                #print 'Return OK : %s'%(tactileVals)
                return tactileVals
        
                
        def new_temp_mail(self, fingers_to_change):
                former_mailbox_c={}
                for finger in fingers_to_change:
                        former_mailbox_c[finger]=self.get_property(finger,GRPC)
                        self.set_property(finger,GRPC,12)
                return former_mailbox_c

        def revert_temp_mail(self, fingers_to_change,former):
                for finger in fingers_to_change:
                        former_mailbox_value=former[finger]
                        self.set_property(finger,GRPC,former_mailbox_value)
        #==========================ANGLE_CONVERSIONS=========================

        def enc_to_per(self, enc):
                '''
                Given an angle in encoder counts, return the percentage of the angle that represents.

                        @param enc: Encoder counts.
                        @type enc: int
                        @return: Percentage
                        @rtype: float
                '''
                per = enc/1950.0
                return round(per, 2)

        def enc_to_rad(self, enc, type = BASE_TYPE):
                '''
                Given an angle in encoder counts, return the radian measure of the angle that represents.

                        @param enc: Encoder counts.
                        @type enc: int
                        @return: Radians
                        @rtype: float
                '''
                motion_limit = BASE_LIMIT
                tics = MAX_ENCODER_TICKS
                
                if type == TIP_TYPE:
                        motion_limit = TIP_LIMIT
                        tics = MAX_FINGERTIP_TICKS
                elif type == SPREAD_TYPE:
                        motion_limit = SPREAD_LIMIT
                        tics = MAX_SPREAD_TICKS
                                
                PI = 3.141592653589
                rad = enc * (motion_limit*PI/180)/tics
                return round(rad,2)

        def enc_to_deg(self, enc):
                '''
                Given an angle in encoder counts, return the degree measure of the angle that represents.

                        @param enc: Encoder counts.
                        @type enc: int
                        @return: Degrees
                        @rtype: float
                '''
                deg = enc * 140/MAX_ENCODER_TICKS
                return round(deg,2)

        def per_to_enc(self, per):
                '''
                Given a percentage of an angle, return it in encoder counts.

                        @param per: Percentage
                        @type per: float
                        @return: Encoder counts
                        @rtype: int
                '''
                enc = per * 1950.0
                return int(enc)

        def rad_to_enc(self, rad, type = BASE_TYPE):
                '''
                Given the readian measure of an angle, return it in encoder counts.

                        @param rad: Radians
                        @type rad: float
                        @return: Encoder counts
                        @rtype: int
                '''
                motion_limit = BASE_LIMIT
                tics = MAX_ENCODER_TICKS
                
                if type == TIP_TYPE:
                        motion_limit = TIP_LIMIT
                        tics = MAX_FINGERTIP_TICKS
                elif type == SPREAD_TYPE:
                        motion_limit = SPREAD_LIMIT
                        tics = MAX_SPREAD_TICKS
                        
                PI = 3.141592653589
                enc = rad / ((motion_limit*PI/180)/tics)
                return int(enc)

        def deg_to_enc(self, deg):

                '''
                Given a degree measure of an angle, return it in encoder counts.

                        @param deg: Degrees
                        @type deg: float
                        @return: Encoder counts
                        @rtype: int
                '''
                enc = deg * 195000.0/140
                return int(enc)
        
        def clean_read_buffer(self):
                
                result_ = self.read_msg()
                        
                while result_[0] == 0:
                        result_ = self.read_msg()