robotis_def.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################

# Author: Ryu Woon Jung (Leon)

BROADCAST_ID = 0xFE  # 254
MAX_ID = 0xFC  # 252

# Instruction for DXL Protocol
INST_PING = 1
INST_READ = 2
INST_WRITE = 3
INST_REG_WRITE = 4
INST_ACTION = 5
INST_FACTORY_RESET = 6
INST_SYNC_WRITE = 131  # 0x83
INST_BULK_READ = 146  # 0x92
# --- Only for 2.0 ---
INST_REBOOT = 8
INST_STATUS = 85  # 0x55
INST_SYNC_READ = 130  # 0x82
INST_BULK_WRITE = 147  # 0x93

# Communication Result
COMM_SUCCESS = 0  # tx or rx packet communication success
COMM_PORT_BUSY = -1000  # Port is busy (in use)
COMM_TX_FAIL = -1001  # Failed transmit instruction packet
COMM_RX_FAIL = -1002  # Failed get status packet
COMM_TX_ERROR = -2000  # Incorrect instruction packet
COMM_RX_WAITING = -3000  # Now recieving status packet
COMM_RX_TIMEOUT = -3001  # There is no status packet
COMM_RX_CORRUPT = -3002  # Incorrect status packet
COMM_NOT_AVAILABLE = -9000  #


# Macro for Control Table Value
def DXL_MAKEWORD(a, b):
    return (a & 0xFF) | ((b & 0xFF) << 8)


def DXL_MAKEDWORD(a, b):
    return (a & 0xFFFF) | (b & 0xFFFF) << 16


def DXL_LOWORD(l):
    return l & 0xFFFF


def DXL_HIWORD(l):
    return (l >> 16) & 0xFFFF


def DXL_LOBYTE(w):
    return w & 0xFF


def DXL_HIBYTE(w):
    return (w >> 8) & 0xFF