def read_position(ser,
joints,
verbose=VERBOSE,
num_error_attempts=NUM_ERROR_ATTEMPTS):
"""
Read the current position of each joint.
Move each joint to this position so that servo
does not jerk into position when moved later.
:param ser: The ``serial`` object to use.
:param joints: A list of servo IDs.
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param num_error_attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:returns: An array of values which correspond to the initial positions of the joints.
"""
# Create a list to hold the positions
init_positions = []
# Iterate over the joints and read the position of each
for j in joints:
if verbose:
print('Reading initial position for joint {0}...'.format(j))
pos = packets.get_read_position_packet(j)
init_positions.append(pos)
return init_positions
def read_position(ser, joints, verbose = VERBOSE, num_error_attempts = NUM_ERROR_ATTEMPTS):
"""
Read the current position of each joint.
Move each joint to this position so that servo
does not jerk into position when moved later.
:param ser: The ``serial`` object to use.
:param joints: A list of servo IDs.
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param num_error_attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:returns: An array of values which correspond to the initial positions of the joints.
"""
# Create a list to hold the positions
init_positions = []
# Iterate over the joints and read the position of each
for j in joints:
if verbose:
print('Reading initial position for joint {0}...'.format(j))
pos = packets.get_read_position_packet(j)
init_positions.append(pos)
return init_positions
def get_position(ser, servo_id, verbose = VERBOSE, num_error_attempts = NUM_ERROR_ATTEMPTS):
"""
Read the current position as reported by a servo.
:param ser: The ``serial`` object to use.
:param servo_id: The id of the servo.
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:raises: An ``Exception`` if no packet is successfully read after ``attempts`` attempts.
:returns: An integer indicating the reported position.
"""
packet = packets.get_read_position_packet(servo_id)
resp = write_and_get_response_multiple(ser, packet, servo_id, verbose, num_error_attempts)
return resp.data[1] * 256 + resp.data[0]
def get_position(ser,
servo_id,
verbose=VERBOSE,
num_error_attempts=NUM_ERROR_ATTEMPTS):
"""
Read the current position as reported by a servo.
:param ser: The ``serial`` object to use.
:param servo_id: The id of the servo.
:param verbose: If True, status information will be printed. (Default: ``VERBOSE``).
:param attempts: The number of attempts to make to send the packet when an error is encountered. (Default: ``NUM_ERROR_ATTEMPTS``.)
:raises: An ``Exception`` if no packet is successfully read after ``attempts`` attempts.
:returns: An integer indicating the reported position.
"""
packet = packets.get_read_position_packet(servo_id)
resp = write_and_get_response_multiple(ser, packet, servo_id, verbose,
num_error_attempts)
return resp.data[1] * 256 + resp.data[0]
