Python getLastRxPacketError Examples

Example #1

File: servo_functions.py Project: manavjadhwani123/biped

def set_acc(ID,acce):
    #Write goal acce
    dynamixel.write2ByteTxRx(port_num, PROTOCOL_VERSION, ID, ADDR_AX_GOAL_ACCE, acce)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

Example #2

File: servo_functions.py Project: manavjadhwani123/biped

def write_pos(ID, final_pos):

    # Write goal position
    dynamixel.write2ByteTxRx(port_num, PROTOCOL_VERSION, ID, ADDR_AX_GOAL_POSITION, final_pos)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

Example #3

File: servo_functions.py Project: manavjadhwani123/biped

def enable_bot(ID):
    # Enable Dynamixel Torque
    dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, ID, ADDR_AX_TORQUE_ENABLE, TORQUE_ENABLE)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))
    else:
        if constants.ENABLE_DXL_MESSAGES: 
            print("[] Dynamixel has been successfully connected")

Example #4

File: servo_functions.py Project: manavjadhwani123/biped

def read_load(ID,prnt_enable):
    #Read present load
    dxl_present_load = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, ID, ADDR_AX_PRESENT_LOAD)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

    if prnt_enable==1:
        # if constants.ENABLE_DXL_MESSAGES: print("[ID:%03d] PresLoad:%03d" % (ID, dxl_present_load))
        pass

    return dxl_present_load

Example #5

File: servo_functions.py Project: manavjadhwani123/biped

def read_pos(ID,prnt_enable):
    #Read present position
    dxl_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, ID, ADDR_AX_PRESENT_POSITION)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        if constants.ENABLE_DXL_MESSAGES: 
            print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

    if prnt_enable==1:
        #if constants.ENABLE_DXL_MESSAGES: print("[ID:%03d] PresPos:%03d" % (ID, dxl_present_position))
        if constants.ENABLE_DXL_MESSAGES: 
            print(dxl_present_position)
    return dxl_present_position

    return dxl_present_position

Example #6

File: servo_functions.py Project: SuyashMore/World-Robotics-Olympiad-ARC-2018

def disable_bot(ID):
    # Disable Dynamixel Torque
    dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, ID,
                             ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE)
    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)