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

Public Member Functions
def	__init__
	Constructs an ArbotiX instance, optionally opening the serial connection.
def	__write__
def	closePort
def	disableTorque
	Turn on the torque of a servo.
def	disableWheelMode
	Put a servo into servo mode.
def	enableTorque
	Turn on the torque of a servo.
def	enableWheelMode
	Put a servo into wheel mode (continuous rotation).
def	execute
	Send an instruction to the device.
def	getAnalog
	Get the value of an analog input pin.
def	getDigital
	Get the value of an digital input pin.
def	getGoalSpeed
	Get the goal speed of a servo.
def	getPacket
	Read a dynamixel return packet in an iterative attempt.
def	getPosition
	Get the position of a servo.
def	getReturnLevel
	Get the return level of a device.
def	getSpeed
	Get the speed of a servo.
def	getTemperature
	Get the temperature of a device.
def	getVoltage
	Get the voltage of a device.
def	isMoving
	Determine if a device is moving.
def	openPort
def	read
	Read values of registers.
def	rescan
	Force the ArbotiX2 to rescan the Dynamixel busses.
def	setBaud
	Set baud rate of a device.
def	setDigital
	Get the value of an digital input pin.
def	setLed
	Set the status of the LED on a servo.
def	setPosition
	Set the position of a servo.
def	setReturnLevel
	Set the return level of a device.
def	setServo
	Set the position of a hobby servo.
def	setSpeed
	Set the speed of a servo.
def	setWheelSpeed
	Set the speed and direction of a servo which is in wheel mode (continuous rotation).
def	syncRead
	Read values of registers on many servos.
def	syncWrite
	Write values to registers on many servos.
def	write
	Write values to registers.
Public Attributes
	error
	The last error level read back.
Static Public Attributes
int	ANA_BASE = 18
	Register address of first analog port (read only).
int	BACKWARD = 1
	Direction definition for setWheelSpeed.
int	FORWARD = 0
	Direction definition for setWheelSpeed.
int	HIGH = 0xff
	Helper definition for analog and digital access.
int	INPUT = 0
	Helper definition for analog and digital access.
int	LOW = 0
	Extended ArbotiX Driver.
int	OUTPUT = 0xff
	Helper definition for analog and digital access.
int	REG_DIGITAL_IN0 = 5
	Register base address for reading digital ports.
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.
int	SERVO_BASE = 26
	Register address of analog servos.
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

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

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

Definition at line 68 of file arbotix.py.

def arbotix_python.arbotix.ArbotiX.closePort ( self )

Definition at line 82 of file arbotix.py.

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 278 of file arbotix.py.

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 395 of file arbotix.py.

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 270 of file arbotix.py.

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 384 of file arbotix.py.

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.

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 466 of file arbotix.py.

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 478 of file arbotix.py.

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 340 of file arbotix.py.

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.

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 316 of file arbotix.py.

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 249 of file arbotix.py.

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 328 of file arbotix.py.

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 363 of file arbotix.py.

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 352 of file arbotix.py.

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 374 of file arbotix.py.

def arbotix_python.arbotix.ArbotiX.openPort ( self )

Definition at line 75 of file arbotix.py.

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 176 of file arbotix.py.

def arbotix_python.arbotix.ArbotiX.rescan ( self )

Force the ArbotiX2 to rescan the Dynamixel busses.

Definition at line 456 of file arbotix.py.

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 241 of file arbotix.py.

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 500 of file arbotix.py.

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 288 of file arbotix.py.

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 298 of file arbotix.py.

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 262 of file arbotix.py.

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 520 of file arbotix.py.

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 308 of file arbotix.py.

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 413 of file arbotix.py.

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 231 of file arbotix.py.

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 202 of file arbotix.py.