def error_service_routine(error_byte_list, type=0):
if type == 0:
error = {
0: "INPUT VOLTAGE ERROR",
1: "ANGLE LIMIT ERROR",
2: "OVERHEATING ERROR",
3: "RANGE ERROR",
4: "CHECKSUM ERROR",
5: "OVERLOAD ERROR",
6: "INSTRUCTION ERROR",
7: "INVALID ERROR BYTE",
}
for i in range(len(error_byte_list)):
if error_byte_list[i]:
exception_handling.handle_exception(__name__, error.get(i))
# CHANGE -- DECIDE ERROR PRIORITY
elif type == 1:
error_message = "USER DEFINED ERROR : "
error = {1: "COMMUNICATION ERROR"}
error_message += error.get(error_byte_list)
print(error_message)
def find_dynamixel_and_arduino() :
global dynamixel_port,arduino_port
#check if this function called by dynamixel.py or arduino.py
#return the arduino or arduino or dynamixel port respectively
stack = inspect.stack()
if 'dynamixel' in stack[1][1] :
try :
ser = serial.Serial(port = dynamixel_port) #create an instance of the serial.Serial class
except :
exception_handling.handle_exception('dynamixel','cant connect')
else :
print(ser)
ser.baudrate = 57600 #set baudrate equal to 57600
return ser
elif 'arduino' in stack[1][1] :
return[arduino]
else :
print('serial_ports_setup.py called by some module\
other that dynamixel.py or arduino.py')