if dxl_addparam_result != 1:
fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL1_ID)
quit()
# Add parameter storage for Dynamixel#2 LED value
dxl_addparam_result = ctypes.c_ubyte(
dynamixel.groupBulkWriteAddParam(groupwrite_num, DXL2_ID,
ADDR_PRO_LED_RED, LEN_PRO_LED_RED,
dxl_led_value[index],
LEN_PRO_LED_RED)).value
if dxl_addparam_result != 1:
fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL2_ID)
quit()
# Bulkwrite goal position and LED value
dynamixel.groupBulkWriteTxPacket(groupwrite_num)
if dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(
PROTOCOL_VERSION,
dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION))
# Clear bulkwrite parameter storage
dynamixel.groupBulkWriteClearParam(groupwrite_num)
while 1:
# Bulkread present position and moving status
dynamixel.groupBulkReadTxRxPacket(groupread_num)
if dynamixel.getLastTxRxResult(port_num,
PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(
PROTOCOL_VERSION,
break
# Add parameter storage for Dynamixel#1 goal position
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupBulkWriteAddParam(groupwrite_num, DXL1_ID, ADDR_PRO_GOAL_POSITION, LEN_PRO_GOAL_POSITION, dxl_goal_position[index], LEN_PRO_GOAL_POSITION)).value
if dxl_addparam_result != 1:
fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL1_ID)
quit()
# Add parameter storage for Dynamixel#2 LED value
dxl_addparam_result = ctypes.c_ubyte(dynamixel.groupBulkWriteAddParam(groupwrite_num, DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED, dxl_led_value[index], LEN_PRO_LED_RED)).value
if dxl_addparam_result != 1:
fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL2_ID)
quit()
# Bulkwrite goal position and LED value
dynamixel.groupBulkWriteTxPacket(groupwrite_num)
dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
if dxl_comm_result != COMM_SUCCESS:
print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
# Clear bulkwrite parameter storage
dynamixel.groupBulkWriteClearParam(groupwrite_num)
while 1:
# Bulkread present position and moving status
dynamixel.groupBulkReadTxRxPacket(groupread_num)
dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)
if dxl_comm_result != COMM_SUCCESS:
print(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result))
# Check if groupbulkread data of Dynamixel#1 is available