Python write2ByteTxRx 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))