This class controls an ArbotiX, USBDynamixel, or similar board through a serial connection. More...

Public Member Functions
def	__init__ (self, port="/dev/ttyUSB0", baud=115200, timeout=0.1, open_port=True)
	Constructs an ArbotiX instance, optionally opening the serial connection. More...

def	__write__ (self, msg)

def	closePort (self)

def	disableTorque (self, index)
	Turn on the torque of a servo. More...

def	disableWheelMode (self, index, resolution=10)
	Put a servo into servo mode. More...

def	enableTorque (self, index)
	Turn on the torque of a servo. More...

def	enableWheelMode (self, index)
	Put a servo into wheel mode (continuous rotation). More...

def	execute (self, index, ins, params, ret=True)
	Send an instruction to the device. More...

def	getAnalog (self, index, leng=1)
	Get the value of an analog input pin. More...

def	getDigital (self, index)
	Get the value of an digital input pin. More...

def	getGoalSpeed (self, index)
	Get the goal speed of a servo. More...

def	getPacket (self, mode, id=-1, leng=-1, error=-1, params=None)
	Read a dynamixel return packet in an iterative attempt. More...

def	getPosition (self, index)
	Get the position of a servo. More...

def	getReturnLevel (self, index)
	Get the return level of a device. More...

def	getSpeed (self, index)
	Get the speed of a servo. More...

def	getTemperature (self, index)
	Get the temperature of a device. More...

def	getVoltage (self, index)
	Get the voltage of a device. More...

def	isMoving (self, index)
	Determine if a device is moving. More...

def	openPort (self)

def	read (self, index, start, length)
	Read values of registers. More...

def	rescan (self)
	Force the ArbotiX2 to rescan the Dynamixel busses. More...

def	setBaud (self, index, baud)
	Set baud rate of a device. More...

def	setDigital (self, index, value, direction=0xff)
	Get the value of an digital input pin. More...

def	setLed (self, index, value)
	Set the status of the LED on a servo. More...

def	setPosition (self, index, value)
	Set the position of a servo. More...

def	setReturnLevel (self, index, value)
	Set the return level of a device. More...

def	setServo (self, index, value)
	Set the position of a hobby servo. More...

def	setSpeed (self, index, value)
	Set the speed of a servo. More...

def	setWheelSpeed (self, index, direction, speed)
	Set the speed and direction of a servo which is in wheel mode (continuous rotation). More...

def	syncRead (self, servos, start, length)
	Read values of registers on many servos. More...

def	syncWrite (self, start, values)
	Write values to registers on many servos. More...

def	write (self, index, start, values)
	Write values to registers. More...

Public Attributes
	error
	The last error level read back. More...

Static Public Attributes
int	ANA_BASE = 18
	Register address of first analog port (read only). More...

int	BACKWARD = 1
	Direction definition for setWheelSpeed. More...

int	FORWARD = 0
	Direction definition for setWheelSpeed. More...

int	HIGH = 0xff
	Helper definition for analog and digital access. More...

int	INPUT = 0
	Helper definition for analog and digital access. More...

int	LOW = 0
	Extended ArbotiX Driver. More...

int	OUTPUT = 0xff
	Helper definition for analog and digital access. More...

int	REG_DIGITAL_IN0 = 5
	Register base address for reading digital ports. More...

int	REG_DIGITAL_IN1 = 6

int	REG_DIGITAL_IN2 = 7

int	REG_DIGITAL_IN3 = 8

int	REG_DIGITAL_OUT0 = 47

int	REG_RESCAN = 15
	Register address for triggering rescan. More...

int	SERVO_BASE = 26
	Register address of analog servos. More...

Private Attributes
	_mutex

	_ser

Detailed Description

This class controls an ArbotiX, USBDynamixel, or similar board through a serial connection.

Definition at line 42 of file arbotix.py.

Constructor & Destructor Documentation

◆ init()

def arbotix_python.arbotix.ArbotiX.__init__	(	self,
		port = `"/dev/ttyUSB0"`,
		baud = `115200`,
		timeout = `0.1`,
		open_port = `True`
	)

Constructs an ArbotiX instance, optionally opening the serial connection.

Parameters

port	The name of the serial port to open.
baud	The baud rate to run the port at.
timeout	The timeout to use for the port. When operating over a wireless link, you may need to increase this.
open	Whether to open immediately the serial port.

Definition at line 54 of file arbotix.py.

Member Function Documentation

◆ write()

def arbotix_python.arbotix.ArbotiX.__write__	(	self,
		msg
	)

Definition at line 68 of file arbotix.py.

◆ closePort()

def arbotix_python.arbotix.ArbotiX.closePort ( self )

Definition at line 82 of file arbotix.py.

◆ disableTorque()

def arbotix_python.arbotix.ArbotiX.disableTorque	(	self,
		index
	)

Turn on the torque of a servo.

Parameters

index The ID of the device to disable.

Returns: The error level.

Definition at line 290 of file arbotix.py.

◆ disableWheelMode()

def arbotix_python.arbotix.ArbotiX.disableWheelMode	(	self,
		index,
		resolution = `10`
	)

Put a servo into servo mode.

Parameters

index	The ID of the device to write.
resolution	The resolution of the encoder on the servo. NOTE: if using 12-bit resolution servos (EX-106, MX-28, etc), you must pass resolution = 12.

Returns

Definition at line 407 of file arbotix.py.

◆ enableTorque()

def arbotix_python.arbotix.ArbotiX.enableTorque	(	self,
		index
	)

Turn on the torque of a servo.

Parameters

index The ID of the device to enable.

Returns: The error level.

Definition at line 282 of file arbotix.py.

◆ enableWheelMode()

def arbotix_python.arbotix.ArbotiX.enableWheelMode	(	self,
		index
	)

Put a servo into wheel mode (continuous rotation).

Parameters

index The ID of the device to write.

Definition at line 396 of file arbotix.py.

◆ execute()

def arbotix_python.arbotix.ArbotiX.execute	(	self,
		index,
		ins,
		params,
		ret = `True`
	)

Send an instruction to the device.

Parameters

index	The ID of the servo to write.
ins	The instruction to send.
params	A list of the params to send.
ret	Whether to read a return packet.

Returns: The return packet, if read.

Definition at line 149 of file arbotix.py.

◆ getAnalog()

def arbotix_python.arbotix.ArbotiX.getAnalog	(	self,
		index,
		leng = `1`
	)

Get the value of an analog input pin.

Parameters

index	The ID of the pin to read (0 to 7).
leng	The number of bytes to read (1 or 2).

Returns: 8-bit/16-bit analog value of the pin, -1 if error.

Definition at line 478 of file arbotix.py.

◆ getDigital()

def arbotix_python.arbotix.ArbotiX.getDigital	(	self,
		index
	)

Get the value of an digital input pin.

Parameters

index The ID of the pin to read (0 to 31).

Returns: 0 for low, 255 for high, -1 if error.

Definition at line 490 of file arbotix.py.

◆ getGoalSpeed()

def arbotix_python.arbotix.ArbotiX.getGoalSpeed	(	self,
		index
	)

Get the goal speed of a servo.

Parameters

index The ID of the device to read.

Returns: The servo goal speed.

Definition at line 352 of file arbotix.py.

◆ getPacket()

def arbotix_python.arbotix.ArbotiX.getPacket	(	self,
		mode,
		id = `-1`,
		leng = `-1`,
		error = `-1`,
		params = `None`
	)

Read a dynamixel return packet in an iterative attempt.

Parameters

mode	This should be 0 to start reading packet.

Returns: The error level returned by the device.

Definition at line 90 of file arbotix.py.

◆ getPosition()

def arbotix_python.arbotix.ArbotiX.getPosition	(	self,
		index
	)

Get the position of a servo.

Parameters

index The ID of the device to read.

Returns: The servo position.

Definition at line 328 of file arbotix.py.

◆ getReturnLevel()

def arbotix_python.arbotix.ArbotiX.getReturnLevel	(	self,
		index
	)

Get the return level of a device.

Parameters

index The ID of the device to read.

Returns: The return level, .

Definition at line 261 of file arbotix.py.

◆ getSpeed()

def arbotix_python.arbotix.ArbotiX.getSpeed	(	self,
		index
	)

Get the speed of a servo.

Parameters

index The ID of the device to read.

Returns: The servo speed.

Definition at line 340 of file arbotix.py.

◆ getTemperature()

def arbotix_python.arbotix.ArbotiX.getTemperature	(	self,
		index
	)

Get the temperature of a device.

Parameters

index The ID of the device to read.

Returns: The temperature, in degrees C.

Definition at line 375 of file arbotix.py.

◆ getVoltage()

def arbotix_python.arbotix.ArbotiX.getVoltage	(	self,
		index
	)

Get the voltage of a device.

Parameters

index The ID of the device to read.

Returns: The voltage, in Volts.

Definition at line 364 of file arbotix.py.

◆ isMoving()

def arbotix_python.arbotix.ArbotiX.isMoving	(	self,
		index
	)

Determine if a device is moving.

Parameters

index The ID of the device to read.

Returns: True if servo is moving.

Definition at line 386 of file arbotix.py.

◆ openPort()

def arbotix_python.arbotix.ArbotiX.openPort ( self )

Definition at line 75 of file arbotix.py.

◆ read()

def arbotix_python.arbotix.ArbotiX.read	(	self,
		index,
		start,
		length
	)

Read values of registers.

Parameters

index	The ID of the servo.
start	The starting register address to begin the read at.
length	The number of bytes to read.

Returns: A list of the bytes read, or -1 if failure.

Definition at line 182 of file arbotix.py.

◆ rescan()

def arbotix_python.arbotix.ArbotiX.rescan ( self )

Force the ArbotiX2 to rescan the Dynamixel busses.

Definition at line 468 of file arbotix.py.

◆ setBaud()

def arbotix_python.arbotix.ArbotiX.setBaud	(	self,
		index,
		baud
	)

Set baud rate of a device.

Parameters

index	The ID of the device to write (Note: ArbotiX is 253).
baud	The baud rate.

Returns: The error level.

Definition at line 253 of file arbotix.py.

◆ setDigital()

def arbotix_python.arbotix.ArbotiX.setDigital	(	self,
		index,
		value,
		direction = `0xff`
	)

Get the value of an digital input pin.

Parameters

index	The ID of the pin to write (0 to 31).
value	The value of the port, >0 is high.
direction	The direction of the port, >0 is output.

Returns: -1 if error.

Definition at line 512 of file arbotix.py.

◆ setLed()

def arbotix_python.arbotix.ArbotiX.setLed	(	self,
		index,
		value
	)

Set the status of the LED on a servo.

Parameters

index	The ID of the device to write.
value	0 to turn the LED off, >0 to turn it on

Returns: The error level.

Definition at line 300 of file arbotix.py.

◆ setPosition()

def arbotix_python.arbotix.ArbotiX.setPosition	(	self,
		index,
		value
	)

Set the position of a servo.

Parameters

index	The ID of the device to write.
value	The position to go to in, in servo ticks.

Returns: The error level.

Definition at line 310 of file arbotix.py.

◆ setReturnLevel()

def arbotix_python.arbotix.ArbotiX.setReturnLevel	(	self,
		index,
		value
	)

Set the return level of a device.

Parameters

index	The ID of the device to write.
value	The return level.

Returns: The error level.

Definition at line 274 of file arbotix.py.

◆ setServo()

def arbotix_python.arbotix.ArbotiX.setServo	(	self,
		index,
		value
	)

Set the position of a hobby servo.

Parameters

index	The ID of the servo to write (0 to 7).
value	The position of the servo in milliseconds (1500-2500). A value of 0 disables servo output.

Returns: -1 if error.

Definition at line 532 of file arbotix.py.

◆ setSpeed()

def arbotix_python.arbotix.ArbotiX.setSpeed	(	self,
		index,
		value
	)

Set the speed of a servo.

Parameters

index	The ID of the device to write.
value	The speed to write.

Returns: The error level.

Definition at line 320 of file arbotix.py.

◆ setWheelSpeed()

def arbotix_python.arbotix.ArbotiX.setWheelSpeed	(	self,
		index,
		direction,
		speed
	)

Set the speed and direction of a servo which is in wheel mode (continuous rotation).

Parameters

index	The ID of the device to write.
direction	The direction of rotation, either FORWARD or BACKWARD
speed	The speed to move at (0-1023).

Returns

Definition at line 425 of file arbotix.py.

◆ syncRead()

def arbotix_python.arbotix.ArbotiX.syncRead	(	self,
		servos,
		start,
		length
	)

Read values of registers on many servos.

Parameters

servos	A list of the servo IDs to read from.
start	The starting register address to begin reading at.
length	The number of bytes to read from each servo.

Returns: A list of bytes read.

Definition at line 243 of file arbotix.py.

◆ syncWrite()

def arbotix_python.arbotix.ArbotiX.syncWrite	(	self,
		start,
		values
	)

Write values to registers on many servos.

Parameters

start	The starting register address to begin writing to.
values	The data to write, in a list of lists. Format should be [(id1, val1, val2), (id2, val1, val2)]

Definition at line 208 of file arbotix.py.

◆ write()

def arbotix_python.arbotix.ArbotiX.write	(	self,
		index,
		start,
		values
	)

Write values to registers.

Parameters

index	The ID of the servo.
start	The starting register address to begin writing to.
values	The data to write, in a list.

Returns: The error level.

Definition at line 198 of file arbotix.py.

Member Data Documentation

◆ _mutex

arbotix_python.arbotix.ArbotiX._mutex

private

Definition at line 55 of file arbotix.py.

◆ _ser

arbotix_python.arbotix.ArbotiX._ser

private

Definition at line 56 of file arbotix.py.

◆ ANA_BASE

int arbotix_python.arbotix.ArbotiX.ANA_BASE = 18

static

Register address of first analog port (read only).

Each additional port is BASE + index.

Definition at line 460 of file arbotix.py.

◆ BACKWARD

int arbotix_python.arbotix.ArbotiX.BACKWARD = 1

static

Direction definition for setWheelSpeed.

Definition at line 414 of file arbotix.py.

◆ error

arbotix_python.arbotix.ArbotiX.error

The last error level read back.

Definition at line 66 of file arbotix.py.

◆ FORWARD

int arbotix_python.arbotix.ArbotiX.FORWARD = 0

static

Direction definition for setWheelSpeed.

Definition at line 412 of file arbotix.py.

◆ HIGH

int arbotix_python.arbotix.ArbotiX.HIGH = 0xff

static

Helper definition for analog and digital access.

Definition at line 442 of file arbotix.py.

◆ INPUT

int arbotix_python.arbotix.ArbotiX.INPUT = 0

static

Helper definition for analog and digital access.

Definition at line 444 of file arbotix.py.

◆ LOW

int arbotix_python.arbotix.ArbotiX.LOW = 0

static

Extended ArbotiX Driver.

Helper definition for analog and digital access.

Definition at line 440 of file arbotix.py.

◆ OUTPUT

int arbotix_python.arbotix.ArbotiX.OUTPUT = 0xff

static

Helper definition for analog and digital access.

Definition at line 446 of file arbotix.py.

◆ REG_DIGITAL_IN0

int arbotix_python.arbotix.ArbotiX.REG_DIGITAL_IN0 = 5

static

Register base address for reading digital ports.

Definition at line 451 of file arbotix.py.

◆ REG_DIGITAL_IN1

int arbotix_python.arbotix.ArbotiX.REG_DIGITAL_IN1 = 6

static

Definition at line 452 of file arbotix.py.

◆ REG_DIGITAL_IN2

int arbotix_python.arbotix.ArbotiX.REG_DIGITAL_IN2 = 7

static

Definition at line 453 of file arbotix.py.

◆ REG_DIGITAL_IN3

int arbotix_python.arbotix.ArbotiX.REG_DIGITAL_IN3 = 8

static

Definition at line 454 of file arbotix.py.

◆ REG_DIGITAL_OUT0

int arbotix_python.arbotix.ArbotiX.REG_DIGITAL_OUT0 = 47

static

Definition at line 465 of file arbotix.py.

◆ REG_RESCAN

int arbotix_python.arbotix.ArbotiX.REG_RESCAN = 15

static

Register address for triggering rescan.

Definition at line 456 of file arbotix.py.

◆ SERVO_BASE

int arbotix_python.arbotix.ArbotiX.SERVO_BASE = 26

static

Register address of analog servos.

Up to 10 servos, each uses 2 bytes (L, then H), pulse width (0, 1000-2000ms) (Write only)

Definition at line 463 of file arbotix.py.

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

arbotix.py

Public Member Functions

Public Attributes

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ __write__()

◆ closePort()

◆ disableTorque()

◆ disableWheelMode()

◆ enableTorque()

◆ enableWheelMode()

◆ execute()

◆ getAnalog()

◆ getDigital()

◆ getGoalSpeed()

◆ getPacket()

◆ getPosition()

◆ getReturnLevel()

◆ getSpeed()

◆ getTemperature()

◆ getVoltage()

◆ isMoving()

◆ openPort()

◆ read()

◆ rescan()

◆ setBaud()

◆ setDigital()

◆ setLed()

◆ setPosition()

◆ setReturnLevel()

◆ setServo()

◆ setSpeed()

◆ setWheelSpeed()

◆ syncRead()

◆ syncWrite()

◆ write()

Member Data Documentation

◆ _mutex

◆ _ser

◆ ANA_BASE

◆ BACKWARD

◆ error

◆ FORWARD

◆ HIGH

◆ INPUT

◆ LOW

◆ OUTPUT

◆ REG_DIGITAL_IN0

◆ REG_DIGITAL_IN1

◆ REG_DIGITAL_IN2

◆ REG_DIGITAL_IN3

◆ REG_DIGITAL_OUT0

◆ REG_RESCAN

◆ SERVO_BASE

◆ init()

◆ write()