COMM_SUCCESS = 0 # Communication Success result value
COMM_TX_FAIL = -1001 # Communication Tx Failed
# Initialize PortHandler Structs
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num = dynamixel.portHandler(DEVICENAME)
# Initialize PacketHandler Structs
dynamixel.packetHandler()
# Initialize groupBulkWrite Struct
groupwrite_num = dynamixel.groupBulkWrite(port_num, PROTOCOL_VERSION)
# Initialize Groupsyncwrite instance
groupread_num = dynamixel.groupBulkRead(port_num, PROTOCOL_VERSION)
index = 0
dxl_comm_result = COMM_TX_FAIL # Communication result
dxl_addparam_result = 0 # AddParam result
dxl_getdata_result = 0 # GetParam result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE,
DXL_MAXIMUM_POSITION_VALUE] # Goal position
dxl_error = 0 # Dynamixel error
dxl_led_value = [0, 255] # Dynamixel LED value for write
dxl1_present_position = 0 # Present position
dxl2_led_value_read = 0 # Dynamixel moving status
# Open port
if dynamixel.openPort(port_num):
ESC_ASCII_VALUE = 0x1b
COMM_SUCCESS = 0 # Communication Success result value
COMM_TX_FAIL = -1001 # Communication Tx Failed
# Initialize PortHandler Structs
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num = dynamixel.portHandler(DEVICENAME)
# Initialize PacketHandler Structs
dynamixel.packetHandler()
# Initialize Groupsyncwrite instance
group_num = dynamixel.groupBulkRead(port_num, PROTOCOL_VERSION)
index = 0
dxl_comm_result = COMM_TX_FAIL # Communication result
dxl_addparam_result = 0 # AddParam result
dxl_getdata_result = 0 # GetParam result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE] # Goal position
dxl_error = 0 # Dynamixel error
dxl1_present_position = 0 # Present position
dxl2_moving = 0 # Dynamixel moving status
# Open port
if dynamixel.openPort(port_num):
print("Succeeded to open the port!")
else: