def main():
parser = ArgumentParser(description='Set a dynamixel motor to'
' a "poppy-like" configuration. '
'Only one motor should be connected!')
parser.add_argument(dest='id', type=int, help='Dynamixel target #id.')
parser.add_argument('-p',
'--port',
default=None,
choices=get_available_ports(),
help='Serial port, default: autoselect')
parser.add_argument(
'--log-level',
default='ERROR',
help='Log level : CRITICAL, ERROR, WARNING, INFO, DEBUG')
parser.add_argument('--position',
type=float,
default=0.0,
help='Position set to the motor (in degrees)')
parser.add_argument('--angle-limit',
type=float,
nargs=2,
default=[-150, 150],
help='Angle limits of the motor (in degrees)')
args = parser.parse_args()
if not (1 <= args.id <= 253):
leave('Motor id should be in range [1:253]!')
log_level = args.log_level.upper()
logger.setLevel(log_level)
# First, we make sure that there is at least one available ports
try:
port = get_available_ports()[0]
except IndexError:
leave('You need to connect at least one dynamixel port!')
print('Resetting to factory settings...')
for br in [FACTORY_BAUDRATE, TARGET_BAUDRATE]:
with DxlIO(port, br) as dxl:
dxl.factory_reset()
time.sleep(.5)
print('Done!')
print('Setting the motor to a "poppy" configuration')
with DxlIO(port, FACTORY_BAUDRATE) as dxl:
# We make sure that there was only one motor on the bus
try:
assert dxl.scan([1]) == [1]
except AssertionError:
leave('No motor found, check the connection!')
except DxlError:
leave('You should only connect one motor at'
' a time when doing factory reset!')
if args.id != 1:
print('Changing the id to {}...'.format(args.id))
dxl.change_id({1: args.id})
print('Changing the return delay time to {}...'.format(0))
dxl.set_return_delay_time({args.id: 0})
print('Changing the angle limit to {}...').format(args.angle_limit)
dxl.set_angle_limit({args.id: args.angle_limit})
print('Changing the baudrate to {}...'.format(TARGET_BAUDRATE))
dxl.change_baudrate({args.id: TARGET_BAUDRATE})
time.sleep(.5)
print('Done!')
print('Now, checking that everything went well...')
with DxlIO(port) as dxl:
try:
assert dxl.ping(args.id)
assert dxl.get_return_delay_time([args.id]) == (0, )
except AssertionError:
leave('Something went wrong with the settings of "Poppy-like"'
' motors configuration.\nThis is probably due to'
' a communication error. Please try again.')
lim = dxl.get_angle_limit([args.id])[0]
if not all(map(almost_equal, lim, args.angle_limit)):
print('Angle limit incorrect set {} instead of {}'.format(
lim, args.angle_limit))
dxl.set_goal_position({args.id: args.position})
while any(dxl.is_moving((args.id, ))):
time.sleep(.1)
pos = dxl.get_present_position((args.id, ))[0]
if not almost_equal(args.position, pos):
print('Target position not reached: {} instead of {}.'.format(
pos, args.position))
print('Done!')
parser = argparse.ArgumentParser()
parser.add_argument('-l', '--log-folder',
type=str, required=True)
parser.add_argument('-N', type=int, required=True)
args = parser.parse_args()
bp = args.log_folder
if os.path.exists(bp):
raise IOError('Folder already exists: {}'.format(bp))
os.mkdir(bp)
available_ports = get_available_ports()
port = available_ports[0]
print('Connecting on port {}.'.format(port))
dxl = DxlIO(port)
print('Scanning motors on the bus...')
ids = dxl.scan()
print('Found {}'.format(ids))
ids = ids[:1]
print('Will use id: {}'.format(ids))
if dxl.get_return_delay_time(ids)[0] != 0:
raise IOError('Make sure your motor has return delay time set to 0')
print('Start testing !')
print('Using "normal" pypot package...')
def rw_pypot():
def main():
available_ports = get_available_ports()
default_port = available_ports[0] if available_ports else None
parser = ArgumentParser(description='Configuration tool for dynamixel motors '
'WARNING: ONLY ONE MOTOR SHOULD BE '
'CONNECTED TO THE BUS WHEN CONFIGURING!',
formatter_class=ArgumentDefaultsHelpFormatter)
parser.add_argument('--id', type=int, required=True,
help='Chosen motor id.')
parser.add_argument('--type', type=str, required=True,
choices=dynamixelModels.values(),
help='Type of the motor to configure.')
parser.add_argument('--port', type=str,
choices=available_ports, default=default_port,
help='Serial port connected to the motor.')
parser.add_argument('--return-delay-time', type=int,
help='Set new return delay time.')
parser.add_argument('--wheel-mode', type=bool, default=False,
help='Set wheel mode.')
parser.add_argument('--angle-limit', type=float, nargs=2,
help='Set new angle limit.')
parser.add_argument('--goto-zero', action='store_true',
help='Go to zero position after configuring the motor')
args = parser.parse_args()
check(1 <= args.id <= 253,
'Motor id must be in range [1:253]')
check(available_ports,
'Could not find an available serial port!')
protocol = 2 if args.type in 'XL-320' else 1
DxlIOPort = DxlIO if protocol == 1 else Dxl320IO
# Factory Reset
print('Factory reset...')
if protocol == 1:
for br in [57600, 1000000]:
with DxlIO(args.port, baudrate=br) as io:
io.factory_reset()
else:
with Dxl320IO(args.port, baudrate=1000000, timeout=0.01) as io:
io.factory_reset(ids=range(253))
print('Done!')
factory_baudrate = 57600 if args.type.startswith('MX') else 1000000
# Wait for the motor to "reboot..."
for _ in range(10):
with DxlIOPort(args.port, baudrate=factory_baudrate) as io:
if io.ping(1):
break
time.sleep(.5)
else:
print('Could not communicate with the motor...')
print('Make sure one (and only one) is connected and try again')
sys.exit(1)
# Switch to 1M bauds
if args.type.startswith('MX') or args.type.startswith('SR'):
print('Changing to 1M bauds...')
with DxlIO(args.port, baudrate=factory_baudrate) as io:
io.change_baudrate({1: 1000000})
time.sleep(.5)
print('Done!')
# Change id
print('Changing id to {}...'.format(args.id))
if args.id != 1:
with DxlIOPort(args.port) as io:
io.change_id({1: args.id})
time.sleep(.5)
check(io.ping(args.id),
'Could not change id to {}'.format(args.id))
print('Done!')
# Set return delay time
if args.return_delay_time is not None:
print('Changing return delay time to {}...'.format(args.return_delay_time))
with DxlIOPort(args.port) as io:
io.set_return_delay_time({args.id: args.return_delay_time})
time.sleep(.5)
check(io.get_return_delay_time([args.id])[0] == args.return_delay_time,
'Could not set return delay time to {}'.format(args.return_delay_time))
print('Done!')
# Set wheel Mode
if args.wheel_mode == True:
print('Set wheel mode')
with DxlIOPort(args.port) as io:
io.set_control_mode({args.id :'wheel'})
time.sleep(.5)
check(io.get_control_mode([args.id])[0] == 'wheel',
'Could not set wheel Mode')
print('Done!')
# Set Angle Limit
if args.angle_limit is not None:
print('Changing angle limit to {}...'.format(args.angle_limit))
with DxlIOPort(args.port) as io:
io.set_angle_limit({args.id: args.angle_limit})
time.sleep(.5)
check(all(map(lambda p1, p2: abs(p1 - p2) < 1.,
io.get_angle_limit([args.id])[0],
args.angle_limit)),
'Could not change angle limit to {}'.format(args.angle_limit))
print('Done!')
# GOTO ZERO
if args.goto_zero:
print('Going to position 0...')
with DxlIOPort(args.port) as io:
io.set_moving_speed({args.id: 100.0})
io.set_goal_position({args.id: 0.0})
time.sleep(2.0)
check(abs(io.get_present_position([args.id])[0]) < 5,
'Could not go to 0 position')
print('Done!')
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-l', '--log-folder', type=str, required=True)
parser.add_argument('-N', type=int, required=True)
args = parser.parse_args()
bp = args.log_folder
if os.path.exists(bp):
raise IOError('Folder already exists: {}'.format(bp))
os.mkdir(bp)
available_ports = get_available_ports()
port = available_ports[0]
print('Connecting on port {}.'.format(port))
dxl = DxlIO(port)
print('Scanning motors on the bus...')
ids = dxl.scan()
print('Found {}'.format(ids))
ids = ids[:1]
print('Will use id: {}'.format(ids))
if dxl.get_return_delay_time(ids)[0] != 0:
raise IOError('Make sure your motor has return delay time set to 0')
print('Start testing !')
print('Using "normal" pypot package...')
import time
from pypot.dynamixel import get_available_ports, DxlIO
max_temp = 55
if __name__ == '__main__':
ports = get_available_ports()
if '/dev/ttyAMA0' in ports:
ports.remove('/dev/ttyAMA0')
for p in ports:
print('Looking for motors on port "{}"'.format(p))
with DxlIO(p) as io:
ids = io.scan(range(30))
print('Ids found: {}'.format(ids))
print('Setting max temperature to "{}C"...'.format(max_temp))
io.set_highest_temperature_limit({id: max_temp for id in ids})
print('Done.')
time.sleep(1.0)