Python groupBulkReadIsAvailable Examples

Example #1

File: bulk_read_write.py Project: chandong83/DynamixelSDK_tmp

    # Clear bulkwrite parameter storage
    dynamixel.groupBulkWriteClearParam(groupwrite_num)

    while 1:
        # Bulkread present position and moving status
        dynamixel.groupBulkReadTxRxPacket(groupread_num)
        if dynamixel.getLastTxRxResult(port_num,
                                       PROTOCOL_VERSION) != COMM_SUCCESS:
            dynamixel.printTxRxResult(
                PROTOCOL_VERSION,
                dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION))

        # Check if groupbulkread data of Dynamixel#1 is available
        dxl_getdata_result = ctypes.c_ubyte(
            dynamixel.groupBulkReadIsAvailable(groupread_num, DXL1_ID,
                                               ADDR_PRO_PRESENT_POSITION,
                                               LEN_PRO_PRESENT_POSITION)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL1_ID))
            quit()

        # Check if groupbulkread data of Dynamixel#2 is available
        dxl_getdata_result = ctypes.c_ubyte(
            dynamixel.groupBulkReadIsAvailable(groupread_num, DXL2_ID,
                                               ADDR_PRO_LED_RED,
                                               LEN_PRO_LED_RED)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL2_ID))
            quit()

        # Get Dynamixel#1 present position value

Example #2

File: bulk_read_write.py Project: robotpilot/DynamixelSDK

    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))

    # Clear bulkwrite parameter storage
    dynamixel.groupBulkWriteClearParam(groupwrite_num)

    while 1:
        # Bulkread present position and moving status
        dynamixel.groupBulkReadTxRxPacket(groupread_num)
        dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
        if dxl_comm_result != COMM_SUCCESS:
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))

        # Check if groupbulkread data of Dynamixel#1 is available
        dxl_getdata_result = ctypes.c_ubyte(dynamixel.groupBulkReadIsAvailable(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL1_ID))
            quit()

        # Check if groupbulkread data of Dynamixel#2 is available
        dxl_getdata_result = ctypes.c_ubyte(dynamixel.groupBulkReadIsAvailable(groupread_num, DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL2_ID))
            quit()

        # Get Dynamixel#1 present position value
        dxl1_present_position = dynamixel.groupBulkReadGetData(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION)

        # Get Dynamixel#2 moving status value
        dxl2_led_value_read = dynamixel.groupBulkReadGetData(groupread_num, DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED)

Example #3

    dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
    dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)
    if dxl_comm_result != COMM_SUCCESS:
        print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
    elif dxl_error != 0:
        print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

    while 1:
        # Bulkread present position and moving status
        dynamixel.groupBulkReadTxRxPacket(group_num)
        dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
        if dxl_comm_result != COMM_SUCCESS:
            print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))

        # Check if groupbulkread data of Dynamixel#1 is available
        dxl_getdata_result = ctypes.c_ubyte(dynamixel.groupBulkReadIsAvailable(group_num, DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL1_ID))
            quit()

        # Check if groupbulkread data of Dynamixel#2 is available
        dxl_getdata_result = ctypes.c_ubyte(dynamixel.groupBulkReadIsAvailable(group_num, DXL2_ID, ADDR_MX_MOVING, LEN_MX_MOVING)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL2_ID))
            quit()

        # Get Dynamixel#1 present position value
        dxl1_present_position = dynamixel.groupBulkReadGetData(group_num, DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION)

        # Get Dynamixel#2 moving status value
        dxl2_moving = dynamixel.groupBulkReadGetData(group_num, DXL2_ID, ADDR_MX_MOVING, LEN_MX_MOVING)

Example #4

File: bulk_read.py Project: chandong83/DynamixelSDK_tmp

            PROTOCOL_VERSION,
            dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION))

    while 1:
        # Bulkread present position and moving status
        dynamixel.groupBulkReadTxRxPacket(group_num)
        if dynamixel.getLastTxRxResult(port_num,
                                       PROTOCOL_VERSION) != COMM_SUCCESS:
            dynamixel.printTxRxResult(
                PROTOCOL_VERSION,
                dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION))

        # Check if groupbulkread data of Dynamixel#1 is available
        dxl_getdata_result = ctypes.c_ubyte(
            dynamixel.groupBulkReadIsAvailable(group_num, DXL1_ID,
                                               ADDR_MX_PRESENT_POSITION,
                                               LEN_MX_PRESENT_POSITION)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL1_ID))
            quit()

        # Check if groupbulkread data of Dynamixel#2 is available
        dxl_getdata_result = ctypes.c_ubyte(
            dynamixel.groupBulkReadIsAvailable(group_num, DXL2_ID,
                                               ADDR_MX_MOVING,
                                               LEN_MX_MOVING)).value
        if dxl_getdata_result != 1:
            print("[ID:%03d] groupBulkRead getdata failed" % (DXL2_ID))
            quit()

        # Get Dynamixel#1 present position value