def main():
"""
Set the *return delay time* for the specified Dynamixel unit
i.e. the time (in microsecond) for the status packets to return after the
instruction packet is sent.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--return-delay-time",
"-r",
help="The new return delay time assigned to the "
"selected Dynamixel unit. It must be in range "
"(0, 500). The default value is {default}µs "
"({default} microseconds).".format(default=DEFAULT_VALUE),
type=int,
metavar="INT",
default=DEFAULT_VALUE)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_return_delay_time(args.dynamixel_id, args.return_delay_time)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Ping the specified Dynamixel unit.
Returns "True" if the specified unit is available, "False" otherwise.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
is_available = serial_connection.ping(args.dynamixel_id)
print(is_available)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Blink (only once) the LED of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Switch ON the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 1)
# Wait 2 seconds
time.sleep(2)
# Switch OFF the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 0)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Ping the specified Dynamixel unit.
Returns "True" if the specified unit is available, "False" otherwise.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
is_available = serial_connection.ping(args.dynamixel_id)
print(is_available)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Prints the ID list of available Dynamixel units.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__, id_arg=False)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
for dynamixel_id in ids_available:
print(dynamixel_id)
# Close the serial connection
serial_connection.close()
def main():
"""Set the *baud rate* for the specified Dynamixel unit
i.e. set the connection speed with the actuator in kbps
(kilo bauds per second).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-baudrate",
"-n",
help="the new baud rate assigned to the selected "
"Dynamixel unit (in kbps)."
"The default value is {default}kbps.".format(default=DEFAULT_VALUE),
type=float,
metavar="FLOAT",
default=DEFAULT_VALUE)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_baud_rate(args.dynamixel_id, args.new_baudrate)
# Close the serial connection
serial_connection.close()
def main():
"""
Set the *ID* for the specified Dynamixel unit
i.e. the unique ID number assigned to actuators for identifying them.
Different IDs are required for each Dynamixel actuators that are on the
same network.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-id",
"-n",
help="The new unique ID assigned to the selected "
"Dynamixel unit. It must be in range (0, 0xFE).",
type=int,
metavar="INT",
default=1)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_id(args.dynamixel_id, args.new_id)
# Close the serial connection
serial_connection.close()
def main():
"""
Set the *ID* for the specified Dynamixel unit
i.e. the unique ID number assigned to actuators for identifying them.
Different IDs are required for each Dynamixel actuators that are on the
same network.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-id",
"-n",
help="The new unique ID assigned to the selected "
"Dynamixel unit. It must be in range (0, 0xFE).",
type=int,
metavar="INT",
default=1)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_id(args.dynamixel_id, args.new_id)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Blink (only once) the LED of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Switch ON the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 1)
# Wait 2 seconds
time.sleep(2)
# Switch OFF the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 0)
# Close the serial connection
serial_connection.close()
def main():
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port='/dev/ttyS0',
baudrate=1000000,
timeout=0.01,
rpi_gpio=18)
def main():
"""
A PyAX-12 demo.
Print the control table of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__, id_arg_mandatory=True)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Print the control table of the specified Dynamixel unit
serial_connection.pretty_print_control_table(args.dynamixel_id)
# Close the serial connection
serial_connection.close()
def main():
"""
This is an *endless turn mode* demo.
If both values for the *CW angle limit* and *CCW angle limit* are set to 0,
an *endless turn mode* can be implemented by setting the *goal speed*.
This feature can be used for implementing a continuously rotating wheel.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
dynamixel_id = args.dynamixel_id
# Set the "wheel mode"
serial_connection.set_cw_angle_limit(dynamixel_id, 0, degrees=False)
serial_connection.set_ccw_angle_limit(dynamixel_id, 0, degrees=False)
# Activate the actuator (speed=512)
serial_connection.set_speed(dynamixel_id, 512)
# Lets the actuator turn 5 seconds
time.sleep(5)
# Stop the actuator (speed=0)
serial_connection.set_speed(dynamixel_id, 0)
# Leave the "wheel mode"
serial_connection.set_ccw_angle_limit(dynamixel_id, 1023, degrees=False)
# Go to the initial position (0 degree)
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Print the internal temperature (in degrees celsius) of the specified
Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Print the present internal temperature
print(serial_connection.get_present_temperature(args.dynamixel_id))
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Print the internal temperature (in degrees celsius) of the specified
Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Print the present internal temperature
print(serial_connection.get_present_temperature(args.dynamixel_id))
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Move the specified Dynamixel unit to 0° (0) then go to 300° (1023) then go
back to 150° (511).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
###
dynamixel_id = 1
# Go to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -45° (45° CW)
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -135° (135° CW)
serial_connection.goto(dynamixel_id, -135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -150° (150° CW)
serial_connection.goto(dynamixel_id, -150, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +150° (150° CCW)
serial_connection.goto(dynamixel_id, 150, speed=512, degrees=True)
time.sleep(2) # Wait 2 seconds
# Go to +135° (135° CCW)
serial_connection.goto(dynamixel_id, 135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +45° (45° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go back to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
###
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Move the specified Dynamixel unit to 0° (0) then go to 300° (1023) then go
back to 150° (511).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
###
dynamixel_id = args.dynamixel_id
# Go to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -45° (45° CW)
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -135° (135° CW)
serial_connection.goto(dynamixel_id, -135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -150° (150° CW)
serial_connection.goto(dynamixel_id, -150, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +150° (150° CCW)
serial_connection.goto(dynamixel_id, 150, speed=512, degrees=True)
time.sleep(2) # Wait 2 seconds
# Go to +135° (135° CCW)
serial_connection.goto(dynamixel_id, 135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +45° (45° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go back to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
###
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Find all the currently connected AX12s and jog them back and forth through a series of turns
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
print("Found %d servos with ids %s" % (len(ids_available), ids_available))
prev_pos = [
int(serial_connection.get_present_position(i, degrees=False))
for i in ids_available
]
print(prev_pos)
#type(prev_pos[0])
for dynamixel_id in ids_available:
print("Starting position for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=True)))
# Go to -45°
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
print("-45 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("-90 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("+45 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("+90 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
serial_connection.goto(dynamixel_id, 340, speed=512, degrees=False)
time.sleep(1) # Wait 1 second
print("Home angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Close the serial connection
serial_connection.close()
