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 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
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 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