import subprocess
#subprocess.Popen(["rosrun bitbots_dynamixel_debug ping.py", "1", "--port", "ttyUSB0"])
import os
#os.spawnl(os.P_NOWAIT, "rosrun bitbots_dynamixel_debug ping.py 1 --port ttyUSB0")
import multiprocessing
from bitbots_dynamixel_debug.connector import Connector
c = Connector(2, ["/dev/ttyUSB0".encode('utf-8'), "/dev/ttyUSB1".encode('utf-8'), "/dev/ttyUSB2".encode('utf-8'), "/dev/ttyUSB3".encode('utf-8')], 2000000)#4615384)
jobs = []
ids =[]
ids.append([1, 2, 3, 4, 5])
ids.append([6, 7, 8, 9, 10])
ids.append([11, 12, 13, 14, 15])
ids.append([16, 18, 19, 20])
def write_1_to_all(port, reg, val):
for i in ids[port]:
c.write_1(i, reg, val, port=i, doPrint=True)
for i in range(0,4):
#p = multiprocessing.Process(target=c.sync_read_loop, args=(i, ids[i], 9, 1, True))
p = multiprocessing.Process(target=write_1_to_all, args=(i, 68, 1))
jobs.append(p)
for i in range(0,4):
jobs[i].start()
c.closePort()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from bitbots_dynamixel_debug.connector import Connector
from bitbots_dynamixel_debug.parser import parse
import sys
args = parse(id_req=True, data_req=True)
c = Connector(args['protocol'], args['device'], args['baudrate'])
max_id = args['id']
for i in range(max_id + 1):
c.write_baud(i, args['data'], doPrint=True)
c.closePort()
#!/usr/bin/env python # -*- coding: utf-8 -*- from bitbots_dynamixel_debug.connector import Connector from bitbots_dynamixel_debug.parser import parse import sys args = parse(id_req=True, register_req=False) c = Connector(args['protocol'], args['device'], args['baudrate']) c.ping_loop(args['id']) c.closePort()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from bitbots_dynamixel_debug.connector import Connector
from bitbots_dynamixel_debug.parser import parse
import sys
args = parse(id_req = False, register_req = False)
print("Searching on baud 4000000")
c = Connector(args['protocol'], args['device'], 4000000)
for i in range(0, 254):
c.ping(i, doPrint=True)
c.closePort()
print("Searching on baud 2000000")
c = Connector(args['protocol'], args['device'], 2000000)
for i in range(0, 254):
c.ping(i, doPrint=True)
c.closePort()
print("Searching on baud 1000000")
c = Connector(args['protocol'], args['device'], 1000000)
for i in range(0, 254):
c.ping(i, doPrint=True)
c.closePort()
print("Searching on baud 57600")
c = Connector(args['protocol'], args['device'], 57600)
for i in range(0, 254):
c.ping(i, doPrint=True)
#!/usr/bin/env python # -*- coding: utf-8 -*- from bitbots_dynamixel_debug.connector import Connector from bitbots_dynamixel_debug.parser import parse import sys args = parse(id_req = True, register_req = False) c = Connector(args['protocol'], args['device'], args['baudrate']) c.reboot(args['id']) c.closePort()
#!/usr/bin/env python # -*- coding: utf-8 -*- from bitbots_dynamixel_debug.connector import Connector from bitbots_dynamixel_debug.parser import parse import sys args = parse(id_req=True, register_req=True) c = Connector(args['protocol'], args['device'], args['baudrate']) c.writeTorque(args['id'], True) c.writeGoalPosition(args['id'], args['reg']) c.writeTorque(args['id'], False) c.closePort()
#!/usr/bin/env python # -*- coding: utf-8 -*- from bitbots_dynamixel_debug.connector import Connector from bitbots_dynamixel_debug.parser import parse import sys args = parse(id_req=True, register_req=True) c = Connector(args['protocol'], args['device'], args['baudrate']) c.read_4(args['id'], args['reg'], doPrint=True) c.closePort()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from bitbots_dynamixel_debug.connector import Connector
import sys
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--on",
help="activate cm730 motor power",
action="store_true")
parser.add_argument("--off",
help="deactivate cm730 motor power",
action="store_true")
args = parser.parse_args()
protocol = 1
baudrate = 1000000
device = "/dev/ttyUSB0".encode('utf-8')
c = Connector(protocol, device, baudrate)
if args.on:
c.cm730Power(True)
if args.off:
c.cm730Power(False)
c.closePort()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from bitbots_dynamixel_debug.connector import Connector
from bitbots_dynamixel_debug.parser import parse
import sys
args = parse(id_req = True, register_req = False)
c = Connector(args['protocol'], args['device'], args['baudrate'])
successful_pings = 0
error_pings = 0
numberPings = 100
for i in range(numberPings):
sucess = c.broadcast_ping(args['id'], doPrint=True)
if sucess:
successful_pings += 1
else:
error_pings += 1
print("Servos 1 to " + str(args['id']) + " got pinged " + str(numberPings) + "times \n Successful pings: " + str(successful_pings) + "\n Error pings: " + str(error_pings))
c.closePort()