IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import jetduino
from jetduino_pins import *
servo = 1
print ("setting return status level to 1")
jetduino.dynamixelSetRegister(servo, jetduino.AX_RETURN_LEVEL, 1, 1)
ret_level = jetduino.dynamixelGetRegister(servo, jetduino.AX_RETURN_LEVEL, 1)
print ("return status level: %d" % (ret_level))
#first get the angle limits
cw_limit_orig = jetduino.dynamixelGetRegister(servo, jetduino.AX_CW_ANGLE_LIMIT_L, 2)
ccw_limit_orig = jetduino.dynamixelGetRegister(servo, jetduino.AX_CCW_ANGLE_LIMIT_L, 2)
print ("Before: CW Limit: %d, CCW Limit: %d" % (cw_limit_orig, ccw_limit_orig))
#now set them to something else
print ("Setting cw=130, ccw=180")
jetduino.dynamixelSetRegister(servo, jetduino.AX_CW_ANGLE_LIMIT_L, 2, 130)
jetduino.dynamixelSetRegister(servo, jetduino.AX_CCW_ANGLE_LIMIT_L, 2, 800)
#get the angle limits again to check
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import jetduino
from jetduino_pins import *
servo = 1
jetduino.dynamixelSetRegister(servo, jetduino.AX_RETURN_LEVEL, 1, 1)
print ("Setting servo 1 to be endless turns.")
jetduino.dynamixelSetEndless(servo, 1)
for num in range(1,2):
try:
print ("Turning CW at 1000")
jetduino.dynamixelTurnSpeed(servo, CLOCKWISE, 1000);
time.sleep(5)
print ("Turning CCW at 500")
jetduino.dynamixelTurnSpeed(servo, COUNTER_CLOCKWISE, 500);
time.sleep(5)
except KeyboardInterrupt:
