dynamixel_driver.dynamixel_io.DynamixelIO Class Reference

Inheritance diagram for dynamixel_driver.dynamixel_io.DynamixelIO:

Public Member Functions
def	__del__ (self)
def	__init__ (self, port, baudrate, readback_echo=False)
def	close (self)
def	exception_on_error (self, error_code, servo_id, command_failed)
def	get_angle_limits (self, servo_id)
def	get_current (self, servo_id)
def	get_drive_mode (self, servo_id)
def	get_feedback (self, servo_id)
def	get_firmware_version (self, servo_id)
def	get_led (self, servo_id)
def	get_model_number (self, servo_id)
	Servo status access functions #. More...
def	get_position (self, servo_id)
def	get_return_delay_time (self, servo_id)
def	get_speed (self, servo_id)
def	get_voltage (self, servo_id)
def	get_voltage_limits (self, servo_id)
def	ping (self, servo_id)
def	read (self, servo_id, address, size)
def	set_acceleration (self, servo_id, acceleration)
def	set_angle_limit_ccw (self, servo_id, angle_ccw)
def	set_angle_limit_cw (self, servo_id, angle_cw)
def	set_angle_limits (self, servo_id, min_angle, max_angle)
def	set_baud_rate (self, servo_id, baud_rate)
def	set_compliance_margin_ccw (self, servo_id, margin)
def	set_compliance_margin_cw (self, servo_id, margin)
def	set_compliance_margins (self, servo_id, margin_cw, margin_ccw)
def	set_compliance_slope_ccw (self, servo_id, slope)
def	set_compliance_slope_cw (self, servo_id, slope)
def	set_compliance_slopes (self, servo_id, slope_cw, slope_ccw)
def	set_d_gain (self, servo_id, d_gain)
def	set_drive_mode (self, servo_id, is_slave=False, is_reverse=False)
def	set_goal_torque (self, servo_id, torque)
def	set_i_gain (self, servo_id, i_gain)
def	set_id (self, old_id, new_id)
	These function modify EEPROM data which persists after power cycle #. More...
def	set_led (self, servo_id, led_state)
def	set_multi_compliance_margin_ccw (self, valueTuples)
def	set_multi_compliance_margin_cw (self, valueTuples)
def	set_multi_compliance_margins (self, valueTuples)
def	set_multi_compliance_slope_ccw (self, valueTuples)
def	set_multi_compliance_slope_cw (self, valueTuples)
def	set_multi_compliance_slopes (self, valueTuples)
def	set_multi_position (self, valueTuples)
def	set_multi_position_and_speed (self, valueTuples)
def	set_multi_punch (self, valueTuples)
def	set_multi_speed (self, valueTuples)
def	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 #. More...
def	set_multi_torque_limit (self, valueTuples)
def	set_p_gain (self, servo_id, p_gain)
def	set_position (self, servo_id, position)
def	set_position_and_speed (self, servo_id, position, speed)
def	set_punch (self, servo_id, punch)
def	set_return_delay_time (self, servo_id, delay)
def	set_speed (self, servo_id, speed)
def	set_torque_enabled (self, servo_id, enabled)
	These functions can send a single command to a single servo #. More...
def	set_torque_limit (self, servo_id, torque)
def	set_voltage_limit_max (self, servo_id, max_voltage)
def	set_voltage_limit_min (self, servo_id, min_voltage)
def	set_voltage_limits (self, servo_id, min_voltage, max_voltage)
def	sync_write (self, address, data)
def	test_bit (self, number, offset)
def	write (self, servo_id, address, data)

Public Attributes
	port_name
	readback_echo
	ser
	serial_mutex

Private Member Functions
def	__read_response (self, servo_id)
def	__write_serial (self, data)

Detailed Description

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.

Constructor & Destructor Documentation

def dynamixel_driver.dynamixel_io.DynamixelIO.__init__	(		self,
			port,
			baudrate,
			readback_echo = False
	)

Constructor takes serial port and baudrate as arguments. 

Definition at line 62 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.__del__

(

self

)

Destructor calls DynamixelIO.close 

Definition at line 73 of file dynamixel_io.py.

Member Function Documentation

def dynamixel_driver.dynamixel_io.DynamixelIO.__read_response (   self,   servo_id  )

private

Definition at line 93 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.__write_serial (   self,   data  )

private

Definition at line 86 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.close

(

self

)

Be nice, close the serial port.

Definition at line 77 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.exception_on_error	(		self,
			error_code,
			servo_id,
			command_failed
	)

Definition at line 976 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 839 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.get_current	(		self,
			servo_id
	)

Reads the servo's current consumption (if supported by model) 

Definition at line 900 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 854 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 924 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 825 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.get_led	(		self,
			servo_id
	)

Get status of the LED. Boolean return values:
    True - LED is on,
    False - LED is off.

Definition at line 962 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 818 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 875 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 832 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 883 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.get_voltage	(		self,
			servo_id
	)

Reads the servo's voltage. 

Definition at line 893 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 861 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 216 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 110 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.set_acceleration	(		self,
			servo_id,
			acceleration
	)

Sets the acceleration. The unit is 8.583 Degree / sec^2.
0 - acceleration control disabled, 1-254 - valid range for acceleration.

Definition at line 508 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 302 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 290 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 314 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 270 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 412 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 401 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 423 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 444 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 434 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 454 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 464 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 329 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.set_goal_torque	(		self,
			servo_id,
			torque
	)

Set the servo to torque control mode (similar to wheel mode, but controlling the torque)
Valid values are from -1023 to 1023.
Anything outside this range or 'None' disables torque control.

Definition at line 573 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 474 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 260 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.set_led	(		self,
			servo_id,
			led_state
	)

Turn the LED of servo motor on/off.
Possible boolean state values:
    True - turn the LED on,
    False - turn the LED off.

Definition at line 623 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 660 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 652 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 668 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 684 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 676 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 692 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 719 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 783 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 700 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 739 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 643 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 765 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 484 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 526 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 601 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 494 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 279 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 539 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 390 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 558 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 354 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 340 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 368 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 183 of file dynamixel_io.py.

def dynamixel_driver.dynamixel_io.DynamixelIO.test_bit	(		self,
			number,
			offset
	)

Definition at line 251 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 144 of file dynamixel_io.py.

Member Data Documentation

dynamixel_driver.dynamixel_io.DynamixelIO.port_name

Definition at line 68 of file dynamixel_io.py.

dynamixel_driver.dynamixel_io.DynamixelIO.readback_echo

Definition at line 69 of file dynamixel_io.py.

dynamixel_driver.dynamixel_io.DynamixelIO.ser

Definition at line 66 of file dynamixel_io.py.

dynamixel_driver.dynamixel_io.DynamixelIO.serial_mutex

Definition at line 65 of file dynamixel_io.py.

---

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

• dynamixel_io.py