Esempi in Python per read1ByteTxRx

Esempio n. 1

File: dynamixel_MX.py Progetto: tyz1030/robotArm

 def get_mode(self, num_tries=RETRIES):
     mode = 0
     retry = 0
     while (retry < num_tries):
         cw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                                    ADDR_CW_LIMIT)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         ccw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                                     ADDR_CCW_LIMIT)
         dcomm_result += dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry += 1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry += 1
         else:
             if ((cw_lim == 0) & (ccw_lim == 0)):
                 mode = 1
             else:
                 mode = 2
             return mode
     print('[COMM_ERR] ' + str(get_caller()))
     return 0

Esempio n. 2

 def get_mode(self, num_tries=RETRIES):
     mode = 0
     retry = 0
     while (retry < num_tries):
         cw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                                    ADDR_CW_LIMIT)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         ccw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                                     ADDR_CCW_LIMIT)
         dcomm_result += dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry += 1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry += 1
         else:
             if ((cw_lim == 0) & (ccw_lim == 0)):
                 mode = 1
             else:
                 mode = 2
             return mode
     raise Exception("get_mode failed after {} tries".format(num_tries))

Esempio n. 3

File: protocol1_0.py Progetto: SRM-Team-Humanoid/pynamixel

    def get_fsr_readings(self, foot):
        id_dic = {'left': 111, 'right': 112}
        id = id_dic[foot]
        #fsr_reading = {'1':0, '2':0, '3':0, '4':0, 'x':0, 'y':0}
        fsr_reading = {}
        fsr_reg1 = {
            '1': ADDR_FSR_1,
            '2': ADDR_FSR_2,
            '3': ADDR_FSR_3,
            '4': ADDR_FSR_4
        }
        fsr_reg2 = {'x': ADDR_FSR_X, 'y': ADDR_FSR_Y}

        for reg in fsr_reg1.keys():
            fsr_reading[reg] = self.to_newton(
                dxl.read2ByteTxRx(self.port, self.protocol, id, fsr_reg1[reg]))
            self.check_result(id)
            self.check_error(id)
        for reg in fsr_reg2.keys():
            fsr_reading[reg] = dxl.read1ByteTxRx(self.port, self.protocol, id,
                                                 fsr_reg2[reg])
            self.check_result(id)
            self.check_error(id)

        return fsr_reading

Esempio n. 4

File: pyjoints.py Progetto: TauraBots/PyDynamixel

    def readValue(self, address, size=1):
        if(size==1):
            v = dxl.read1ByteTxRx(self.socket, PROTOCOL_VERSION, self.servo_id, address)
        elif(size==2):
            v = dxl.read2ByteTxRx(self.socket, PROTOCOL_VERSION, self.servo_id, address)

        return v

Esempio n. 5

File: dynamixel_lib.py Progetto: RobotJustina/JUSTINA

 def GetPresentVoltage(self, Id):
     try:
         present_voltaje = dynamixel.read1ByteTxRx(self.port_num, Registers.PROTOCOL_VERSION, Id, Registers.PRESENT_VOLTAGE)
         if dynamixel.getLastRxPacketError(self.port_num, Registers.PROTOCOL_VERSION) != 0:
             dynamixel.printRxPacketError(Registers.PROTOCOL_VERSION, dynamixel.getLastRxPacketError(self.port_num, Registers.PROTOCOL_VERSION))
         return present_voltaje
     except :
         print "Oops!  Problem writing goal position..."

Esempio n. 6

 def get_voltage(self):
     voltage = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_PRESENT_VOLTAGE)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     return voltage/10.0

Esempio n. 7

 def get_temp(self):
     temp = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_PRESENT_TEMP)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     return temp

Esempio n. 8

File: pyjoints.py Progetto: TauraBots/PyDynamixel

    def readValue(self, address, size=1):
        if (size == 1):
            v = dxl.read1ByteTxRx(self.socket, PROTOCOL_VERSION, self.servo_id,
                                  address)
        elif (size == 2):
            v = dxl.read2ByteTxRx(self.socket, PROTOCOL_VERSION, self.servo_id,
                                  address)

        return v

Esempio n. 9

 def is_moving(self):
     moving = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_MOVING)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     return moving

Esempio n. 10

File: dynamixel_lib.py Progetto: RobotJustina/JUSTINA

 def GetTorqueEnable(self, Id):
     try:
         torque_enable = dynamixel.read1ByteTxRx(self.port_num, Registers.PROTOCOL_VERSION, Id, Registers.TORQUE_ENABLE)
         if dynamixel.getLastRxPacketError(self.port_num, Registers.PROTOCOL_VERSION) != 0:
             dynamixel.printRxPacketError(Registers.PROTOCOL_VERSION, dynamixel.getLastRxPacketError(self.port_num, Registers.PROTOCOL_VERSION))
         return torque_enable
     except :
         print "Oops!  Problem reading Torque..."
         return -3141592

Esempio n. 11

 def get_mode(self):
     mode = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                              ADDR_CONTROL_MODE)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     return mode

Esempio n. 12

 def get_error_status(self):
     error_status = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id,
                                      ADDR_HARDWARE_ERROR)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     return error_status

Esempio n. 13

File: dynamixel_lib.py Progetto: satoshinakamoto137/RoboticsCourses

 def GetTorqueEnable(self, Id):
     torque_enable = dynamixel.read1ByteTxRx(self.port_num,
                                             Registers.PROTOCOL_VERSION, Id,
                                             Registers.TORQUE_ENABLE)
     if dynamixel.getLastRxPacketError(self.port_num,
                                       Registers.PROTOCOL_VERSION) != 0:
         dynamixel.printRxPacketError(
             Registers.PROTOCOL_VERSION,
             dynamixel.getLastRxPacketError(self.port_num,
                                            Registers.PROTOCOL_VERSION))
     return torque_enable

Esempio n. 14

    def read_1(self, id, reg, port=0, doPrint=False):
        read_res = dynamixel.read1ByteTxRx(self.port_num[port], self.protocol, id, reg)
        dxl_comm_result = dynamixel.getLastTxRxResult(self.port_num[port], self.protocol)
        dxl_error = dynamixel.getLastRxPacketError(self.port_num[port], self.protocol)
        if dxl_comm_result != COMM_SUCCESS:
            print(dynamixel.getTxRxResult(self.protocol, dxl_comm_result))            
        elif dxl_error != 0:
            print(dynamixel.getRxPacketError(self.protocol, dxl_error))

        if doPrint:
            print("[ID:%03d] Regist %03d: %03d" % (id, reg, read_res))
        return read_res

Esempio n. 15

 def get_mode(self):
     mode=0
     cw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_CW_LIMIT)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     ccw_lim = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_CCW_LIMIT)
     dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
     derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
     if dcomm_result != 0:
         print(dxl.getTxRxResult(PROTOCOL, dcomm_result))
     elif derror != 0:
         print(dxl.getRxPacketError(PROTOCOL, derror))
     if((cw_lim == 0)&(ccw_lim == 0)):
         mode = 1
     else:
         mode = 2
     return mode

Esempio n. 16

File: dynamixel_lib.py Progetto: satoshinakamoto137/RoboticsCourses

 def GetPresentVoltage(self, Id):
     present_voltaje = dynamixel.read1ByteTxRx(self.port_num,
                                               Registers.PROTOCOL_VERSION,
                                               Id,
                                               Registers.PRESENT_VOLTAGE)
     if dynamixel.getLastRxPacketError(self.port_num,
                                       Registers.PROTOCOL_VERSION) != 0:
         dynamixel.printRxPacketError(
             Registers.PROTOCOL_VERSION,
             dynamixel.getLastRxPacketError(self.port_num,
                                            Registers.PROTOCOL_VERSION))
     return present_voltaje

Esempio n. 17

File: dynamixel_XL.py Progetto: torshepherd/botlab-f19

 def is_moving(self, num_tries = RETRIES):
     retry = 0
     while(retry < num_tries):
         moving = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_MOVING)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)    
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry += 1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry +=1
         else:
             return moving

Esempio n. 18

File: dynamixel_lib.py Progetto: oscarsanpenilla/MobileRobotsCourse

 def GetPresentVoltage(self, Id):
     try:
         present_voltaje = dynamixel.read1ByteTxRx(
             self.port_num, Registers.PROTOCOL_VERSION, Id,
             Registers.PRESENT_VOLTAGE)
         if dynamixel.getLastRxPacketError(self.port_num,
                                           Registers.PROTOCOL_VERSION) != 0:
             dynamixel.printRxPacketError(
                 Registers.PROTOCOL_VERSION,
                 dynamixel.getLastRxPacketError(self.port_num,
                                                Registers.PROTOCOL_VERSION))
         return present_voltaje
     except:
         print "Oops!  Problem writing goal position..."

Esempio n. 19

File: dynamixel_XL.py Progetto: torshepherd/botlab-f19

 def get_voltage(self, num_tries = RETRIES):
     retry = 0
     while(retry < num_tries):
         voltage = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_PRESENT_VOLTAGE)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry +=1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry +=1
         else:
             return voltage/10.0

Esempio n. 20

 def get_temp(self, num_tries = RETRIES):
     retry = 0
     while(retry < num_tries):
         temp = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_PRESENT_TEMP)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry +=1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry +=1
         else:
             return temp
     raise Exception("get_temp failed after {} tries".format(num_tries))

Esempio n. 21

File: dynamixel_lib.py Progetto: oscarsanpenilla/MobileRobotsCourse

 def GetTorqueEnable(self, Id):
     try:
         torque_enable = dynamixel.read1ByteTxRx(self.port_num,
                                                 Registers.PROTOCOL_VERSION,
                                                 Id,
                                                 Registers.TORQUE_ENABLE)
         if dynamixel.getLastRxPacketError(self.port_num,
                                           Registers.PROTOCOL_VERSION) != 0:
             dynamixel.printRxPacketError(
                 Registers.PROTOCOL_VERSION,
                 dynamixel.getLastRxPacketError(self.port_num,
                                                Registers.PROTOCOL_VERSION))
         return torque_enable
     except:
         print "Oops!  Problem reading Torque..."
         return -3141592

Esempio n. 22

File: dynamixel_XL.py Progetto: tyz1030/robotArm

 def get_temp(self, num_tries = RETRIES):
     retry = 0
     while(retry < num_tries):
         temp = dxl.read1ByteTxRx(self.port, PROTOCOL, self.id, ADDR_PRESENT_TEMP)
         dcomm_result = dxl.getLastTxRxResult(self.port, PROTOCOL)
         derror = dxl.getLastRxPacketError(self.port, PROTOCOL)
         if dcomm_result != 0:
             print_v(dxl.getTxRxResult(PROTOCOL, dcomm_result))
             retry +=1
         elif derror != 0:
             print_v(dxl.getRxPacketError(PROTOCOL, derror))
             retry +=1
         else:
             return temp
     print('[COMM_ERR] ' + str(get_caller()))
     return None

Esempio n. 23

File: move_buttons2.py Progetto: charleslpan/Salisbury-Lab-Dynamixel-Arm

 def Read_Value(self, motorId, read_addr, read_len):
     # Read value
     dxl_result = -1
     if(read_len == 4):
         dxl_result = dynamixel.read4ByteTxRx(self.port_num, self.proto_ver, motorId, read_addr)
     elif(read_len == 2):
         dxl_result = dynamixel.read2ByteTxRx(self.port_num, self.proto_ver, motorId, read_addr)
     elif(read_len == 1):
         dxl_result = dynamixel.read1ByteTxRx(self.port_num, self.proto_ver, motorId, read_addr)
     else:
         print('[ID:%03d]: invalid read length %d' %(motorId, read_len))
         return dxl_result
     dxl_comm_result = dynamixel.getLastTxRxResult(self.port_num, self.proto_ver)
     dxl_error = dynamixel.getLastRxPacketError(self.port_num, self.proto_ver)
     if dxl_comm_result != COMM_SUCCESS:
         print(dynamixel.getTxRxResult(self.proto_ver, dxl_comm_result))
     elif dxl_error != 0:
         print(dynamixel.getRxPacketError(self.proto_ver, dxl_error))
     return dxl_result

Esempio n. 24

File: factory_reset.py Progetto: robotpilot/DynamixelSDK

# Wait for reset
print("Wait for reset...")
sleep(2)

print("[ID:%03d] factoryReset Success!" % (DXL_ID))

# Set controller baudrate to dxl default baudrate
if dynamixel.setBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE):
    print("Succeed to change the controller baudrate to : %d" % (FACTORYRST_DEFAULTBAUDRATE))
else:
    print("Failed to change the controller baudrate")
    getch()
    quit()

# Read Dynamixel baudnum
dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE)
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("[ID:%03d] Dynamixel baudnum is now : %d" % (DXL_ID, dxl_baudnum_read))

# Write new baudnum
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE, NEW_BAUDNUM)
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))

Esempio n. 25

File: dynamixel_driver.py Progetto: vbsoftpl/Hopper_ROS

 def __read_byte(self, servo_id, address):
     incoming = dynamixel.read1ByteTxRx(self.__port_num, PROTOCOL, servo_id, address)
     self.__verify_last_message()
     return incoming

Esempio n. 26

File: status_check.py Progetto: clebercoutof/dynamixel_config

    print("Press any key to terminate...")
    getch()
    quit()

# Seta a baud rate da porta
if dynamixel.setBaudRate(port_num, BAUDRATE):
    print("Succeeded to change the baudrate!")
else:
    print("Failed to change the baudrate!")
    print("Press any key to terminate...")
    getch()
    quit()

print("Dynamixel ID[%s] info" % DXL_ID)

MOVING = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID,
                                 ADDR_MOVING)
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))
else:
    if MOVING == 1:
        print("The Dynamixel is moving")
    else:
        print("Dynamixel is stopped")

voltage = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID,

Esempio n. 27

# Wait for reset
print("Wait for reset...")
sleep(2)

print("[ID:%03d] factoryReset Success!" % (DXL_ID))

# Set controller baudrate to dxl default baudrate
if dynamixel.setBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE):
    print("Succeed to change the controller baudrate to : %d" % (FACTORYRST_DEFAULTBAUDRATE))
else:
    print("Failed to change the controller baudrate")
    getch()
    quit()

# Read Dynamixel baudnum
dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE)
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))
else:
  print("[ID:%03d] Dynamixel baudnum is now : %d" % (DXL_ID, dxl_baudnum_read))

# Write new baudnum
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM)
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))
else:
  print("[ID:%03d] Set Dynamixel baudnum to : %d" % (DXL_ID, NEW_BAUDNUM))