change_id.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# Software License Agreement (BSD License)
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# Copyright (c) 2010-2011, Antons Rebguns.
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__author__ = 'Antons Rebguns'
__copyright__ = 'Copyright (c) 2010-2011 Antons Rebguns'

__license__ = 'BSD'
__maintainer__ = 'Antons Rebguns'
__email__ = 'anton@email.arizona.edu'


import sys
from optparse import OptionParser

import roslib
roslib.load_manifest('dynamixel_hardware_interface')

import dynamixel_io

if __name__ == '__main__':
    parser = OptionParser(usage='Usage: %prog [options] OLD_ID NEW_ID', description='Changes the unique ID of a Dynamixel servo motor.')
    parser.add_option('-p', '--port', metavar='PORT', default='/dev/ttyUSB0',
                      help='motors of specified controllers are connected to PORT [default: %default]')
    parser.add_option('-b', '--baud', metavar='BAUD', type="int", default=1000000,
                      help='connection to serial port will be established at BAUD bps [default: %default]')
                      
    (options, args) = parser.parse_args(sys.argv)
    
    if len(args) < 3:
        parser.print_help()
        exit(1)
        
    port = options.port
    baudrate = options.baud
    old_id = int(args[1])
    new_id = int(args[2])
    
    try:
        dxl_io = dynamixel_io.DynamixelIO(port, baudrate)
    except RuntimeError, soe:
        print 'ERROR:', soe
    else:
        print 'Changing motor id from %d to %d...' %(old_id, new_id),
        if dxl_io.ping(old_id):
            dxl_io.set_id(old_id, new_id)
            print ' done'
            print 'Verifying new id...' ,
            if dxl_io.ping(new_id):
                print ' done'
            else:
                print 'ERROR: The motor did not respond to a ping with its new id.'
        else:
            print 'ERROR: The specified motor did not respond to id %d. Make sure to specify the correct baudrate.' % old_id