Python groupSyncReadAddParam Examples

Example #1

File: sync_read_current.py Project: charleslpan/Salisbury-Lab-Dynamixel-Arm

    def Init_Param_Storage(self):
        groupread_num = self.groupread_num
        # Add parameter storage for Dynamixel#1 current
        dxl_addparam_result = ctypes.c_ubyte(
            dynamixel.groupSyncReadAddParam(groupread_num, self.m1id)).value
        if dxl_addparam_result != 1:
            print("[ID:%03d] groupSyncRead addparam failed" % (self.m1id))
            quit()

        # Add parameter storage for Dynamixel#2 current
        dxl_addparam_result = ctypes.c_ubyte(
            dynamixel.groupSyncReadAddParam(groupread_num, self.m2id)).value
        if dxl_addparam_result != 1:
            print("[ID:%03d] groupSyncRead addparam failed" % (self.m2id))
            quit()

        # Add parameter storage for Dynamixel#2 current
        dxl_addparam_result = ctypes.c_ubyte(
            dynamixel.groupSyncReadAddParam(groupread_num, self.m3id)).value
        if dxl_addparam_result != 1:
            print("[ID:%03d] groupSyncRead addparam failed" % (self.m3id))
            quit()

        # Add parameter storage for Dynamixel#4 current
        dxl_addparam_result = ctypes.c_ubyte(
            dynamixel.groupSyncReadAddParam(groupread_num, self.m4id)).value
        if dxl_addparam_result != 1:
            print("[ID:%03d] groupSyncRead addparam failed" % (self.m4id))
            quit()

Example #2

    def sync_read(self, ids, reg, length, port=0, doPrint=False):
        groupread_num = dynamixel.groupSyncRead(self.port_num[port], self.protocol, reg, length)
        for dxl_id in ids:
            # Add parameter storage for Dynamixel#1 present position value
            dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, dxl_id)).value
            if dxl_addparam_result != 1:
                print("[ID:%03d] groupSyncRead addparam failed" % (dxl_id))
                return False

        # Syncread present position
        dynamixel.groupSyncReadTxRxPacket(groupread_num)
        dxl_comm_result = dynamixel.getLastTxRxResult(self.port_num[port], self.protocol)
        if dxl_comm_result != COMM_SUCCESS:
            print(dynamixel.getTxRxResult(self.protocol, dxl_comm_result))

        for dxl_id in ids:
            # Check if groupsyncread data of Dynamixels is available
            dxl_getdata_result = ctypes.c_ubyte(dynamixel.groupSyncReadIsAvailable(groupread_num, dxl_id, reg, length)).value
            if dxl_getdata_result != 1:
                print("[ID:%03d] groupSyncRead getdata failed" % (dxl_id))
                return False

        for dxl_id in ids:
            dxl_result = dynamixel.groupSyncReadGetData(groupread_num, dxl_id, reg, length)
            print("[ID:%03d] result is %d" % (dxl_id, dxl_result))

        return True

Example #3

File: manipulatorx_6dof.py Project: ROBOTIS-Leon/ManipulatorXdemo

    dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION) != 0:
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION))

# Enable position p gain #7
dynamixel.write2ByteTxRx(port_num, PROTOCOL_VERSION, DXL7_ID, ADDR_XM430_POSITION_P_GAIN, dxl_position_p_gain)
if dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION) != COMM_SUCCESS:
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION) != 0:
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION))




# Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL1_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL1_ID))
    quit()

# Add parameter storage for Dynamixel#2 present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL2_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL2_ID))
    quit()

# Add parameter storage for Dynamixel#3 present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL3_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL3_ID))
    quit()

Example #4

# Enable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID,
                         ADDR_PRO_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:
    print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
elif dxl_error != 0:
    print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))
else:
    print("Dynamixel#2 has been successfully connected")

# Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = ctypes.c_ubyte(
    dynamixel.groupSyncReadAddParam(groupread_num, DXL1_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL1_ID))
    quit()

# Add parameter storage for Dynamixel#2 present position value
dxl_addparam_result = ctypes.c_ubyte(
    dynamixel.groupSyncReadAddParam(groupread_num, DXL2_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL2_ID))
    quit()

while 1:
    print("Press any key to continue! (or press ESC to quit!)")
    if getch() == chr(ESC_ASCII_VALUE):
        break

Example #5

File: indirect_address.py Project: oranpere/DynamixelSDK

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))

# Enable Dynamixel Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_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:
    print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
elif dxl_error != 0:
    print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))

# Add parameter storage for Dynamixel present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL_ID))
    quit()


while 1:
    print("Press any key to continue! (or press ESC to quit!)")
    if getch() == chr(ESC_ASCII_VALUE):
        break

    # Add Dynamixel#1 goal position value to the Syncwrite storage
    dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncWriteAddParam(groupwrite_num, DXL_ID, dxl_goal_position[index], LEN_PRO_GOAL_POSITION)).value
    print(dxl_addparam_result)
    if dxl_addparam_result != 1:
        print("[ID:%03d] groupSyncWrite addparam failed" % (DXL_ID))

Example #6

else:
    print("Dynamixel#1 has been successfully connected")

# Enable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_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:
    print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
elif dxl_error != 0:
    print(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error))
else:
    print("Dynamixel#2 has been successfully connected")

# Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL1_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL1_ID))
    quit()

# Add parameter storage for Dynamixel#2 present position value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupSyncReadAddParam(groupread_num, DXL2_ID)).value
if dxl_addparam_result != 1:
    print("[ID:%03d] groupSyncRead addparam failed" % (DXL2_ID))
    quit()


while 1:
    print("Press any key to continue! (or press ESC to quit!)")
    if getch() == chr(ESC_ASCII_VALUE):
        break