def run_script(args):
if args.verbose:
print(dedent("""
accessing bus interface:
- port : %s
- baudrate : %d
- timeout : %.3f s
""")
% (args.port, args.baudrate, args.timeout)
)
try:
intf_class = USB2AX if args.xevel else USB2Dynamixel
intf = intf_class(port=args.port, baudrate=args.baudrate, timeout=args.timeout)
except Exception as e:
cli.die(e)
else:
print('Scanning bus on %s from id=%d to id=%d...' % (args.port, args.from_id, args.to_id))
ids = intf.scan(args.from_id, args.to_id)
if ids:
print ('%d servo(s) found with id(s) : %s' %
(len(ids), ', '.join([str(_id) for _id in ids]))
)
else:
print('No servo found.')
return 0
def run_script(args): # pylint: disable=W0621
# process the 'list registers' action which involves no equipment
if args.list:
list_registers()
return
try:
intf_class = USB2AX if args.xevel else USB2Dynamixel
intf = intf_class(
port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
debug=args.debug
)
except Exception as e: # pylint: disable=W0703
cli.die(e)
else:
if args.intf or intf.ping(args.id):
if args.intf:
print('Interface register(s) :')
else:
print('Servo id=%s register(s) :' % args.id)
if args.readall:
# we want to display all registers
intf.dump_regs(args.id)
elif args.read is not None:
# we want to read a specific register
display_register(intf, args.id, args.read)
elif args.write:
# we want to write to a specific register
reg, value = WriteStatement.parse(args.write)
if reg == Register.Id:
print(dedent("""
Warning : Writing to register 0x%0.2x will change the servo id.
Use dmxl_setid.py script for doing this in a secure way.
""") % Register.Id
)
return
write_register(intf, args.id, reg, value)
display_register(intf, args.id, reg)
else:
cli.print_err('no servo found with id=%d' % args.id)
