def get_position(self, id):
AXposition = AXAngle()
self.communication.flushInput() # to empty the data buffer
bytesToRead = 0x02
positionRequestMsg = self.make_msg(id, Instruction.READ_DATA, [Register.CURRENT_POSITION, bytesToRead])
self.communication.send_msg(positionRequestMsg)
ret = self.communication.recv_msg()
positionHighByte = ret[4]
positionHighByte = positionHighByte << 8
positionLowByte = ret[3]
position = positionHighByte | positionLowByte
AXposition.setValue(position)
return AXposition
