def move_to_vector(ser, vector, verbose = VERBOSE, num_error_attempts = NUM_ERROR_ATTEMPTS):
"""
Move multiple servos concurrently.
:param ser: The ``serial`` object to use.
:param vector: A list of vectors in the form (id, position, velocity).
:param verbose: If True, status information will be printed. Default: ``VERBOSE``.
:param num_error_attempts: The number of attempts to make to send the packet when an error is encountered.
:returns: ``None``.
"""
for i in range(0,len(vector)):
servo_id = vector[i][0]
angle = vector[i][1]
velocity = vector[i][2]
if verbose:
print('Setting angle for {0} to {1}...'.format(id, angle))
packet = packets.get_write_position_packet(servo_id, angle)
dynamixel.write_and_get_response_multiple(ser, packet, id, verbose, num_error_attempts)
if verbose:
print('Setting velocity for {0} to {1}...'.format(id, velocity))
packet = packets.get_write_velocity_packet(servo_id, velocity)
dynamixel.write_and_get_response_multiple(ser, packet, id, verbose, num_error_attempts)
if verbose:
print('Sending action packet.')
packet = packets.get_action_packet()
ser.write(packet)
def set_position(ser, servo_id, position, verbose = VERBOSE, num_error_attempts = NUM_ERROR_ATTEMPTS):
"""
Set the taget position of a servo (the servo will not move until an action packet is sent).
:param ser: The ``serial`` object to use.
:param servo_id: The id of the servo.
:param position: The position to set, (0, 1023).
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:raises: An ``Exception`` if no packet is successfully read after ``attempts`` attempts.
"""
packet = packets.get_write_position_packet(servo_id, position)
write_and_get_response_multiple(ser, packet, servo_id, verbose, num_error_attempts)
def set_position_no_response(ser,
servo_id,
position,
verbose=VERBOSE,
num_error_attempts=NUM_ERROR_ATTEMPTS):
"""
Set the taget position of a servo with in "no wait response" mode.
:param ser: The ``serial`` object to use.
:param servo_id: The id of the servo.
:param position: The position to set, (0, 1023).
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
"""
packet = packets.get_write_position_packet(servo_id, position)
write_and_no_get_response(ser, packet)
def set_position_no_response(ser,
servo_id,
position,
verbose=VERBOSE,
num_error_attempts=NUM_ERROR_ATTEMPTS):
"""
Set the taget position of a servo (the servo will not move until an action packet is sent).
:param ser: The ``serial`` object to use.
:param servo_id: The id of the servo.
:param position: The position to set, (0, 1023).
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:raises: An ``Exception`` if no packet is successfully read after ``attempts`` attempts.
"""
packet = packets.get_write_position_packet(servo_id, position)
write_and_no_get_response(ser, packet)
def move_to_vector(ser,
vector,
verbose=VERBOSE,
num_error_attempts=NUM_ERROR_ATTEMPTS):
"""
Move multiple servos concurrently.
:param ser: The ``serial`` object to use.
:param vector: A list of vectors in the form (id, position, velocity).
:param verbose: If True, status information will be printed. Default: ``VERBOSE``.
:param num_error_attempts: The number of attempts to make to send the packet when an error is encountered.
:returns: ``None``.
"""
for i in range(0, len(vector)):
servo_id = vector[i][0]
angle = vector[i][1]
velocity = vector[i][2]
if verbose:
print('Setting angle for {0} to {1}...'.format(id, angle))
print("BBBBBBBBBB\n", vector[i])
print("AAAAAAA", angle)
packet = packets.get_write_position_packet(servo_id, angle)
dynamixel.write_and_get_response_multiple(ser, packet, id, verbose,
num_error_attempts)
if verbose:
print('Setting velocity for {0} to {1}...'.format(id, velocity))
packet = packets.get_write_velocity_packet(servo_id, velocity)
dynamixel.write_and_get_response_multiple(ser, packet, id, verbose,
num_error_attempts)
if verbose:
print('Sending action packet.')
packet = packets.get_action_packet()
ser.write(packet)
