def __init__(self,
port_name='/dev/ttyUSB0',
port_namespace='ttyUSB0',
baud_rate=1000000,
min_motor_id=1,
max_motor_id=25,
update_rate=5,
diagnostics_rate=1,
error_level_temp=75,
warn_level_temp=70,
readback_echo=False,
protocol_version=2.0):
# Initialize variables for Serial Proxy
self.port_name = port_name
self.port_namespace = port_namespace
self.baud_rate = baud_rate
self.min_motor_id = min_motor_id
self.max_motor_id = max_motor_id
self.update_rate = update_rate
self.diagnostics_rate = diagnostics_rate
self.error_level_temp = error_level_temp
self.warn_level_temp = warn_level_temp
self.readback_echp = readback_echo
self.protocol_version = protocol_version
self.actual_rate = update_rate
self.error_counts = {'non_fatal': 0, 'checksum': 0, 'dropped': 0}
# self.current_state = MotorStateList()
self.num_ping_retries = 5
self.dynotools = dynamixel_tools.DynamixelTools()
self.sdk_io = sdk_serial_wrapper.SDKSerialWrapper(port_name, baud_rate)
self.angles = {}
def __init__(self,
port,
baudrate,
feedback_echo=False,
protocol_version=2.0):
# Initialize Port and Packet Handler, also make needed variables / objects
# TODO: Should try/catch in case of errors
self.serial_mutex = Lock()
self.port_handler = port_h.PortHandler(port)
self.packet_handler = packet_h.PacketHandler(protocol_version)
self.port_handler.openPort()
self.port_handler.setBaudRate(baudrate)
self.port = port
self.baudrate = baudrate
self.dynotools = dynamixel_tools.DynamixelTools()
self.raw_to_deg_switch = {
'54024': self.raw_to_deg_pulse,
'311': self.raw_to_deg_static,
'1120': self.raw_to_deg_static,
'1020': self.raw_to_deg_static
}
self.deg_to_raw_switch = {
'54024': self.deg_to_raw_pulse,
'311': self.deg_to_raw_static,
'1120': self.deg_to_raw_static,
'1020': self.deg_to_raw_static
}