Add color enum for the led of XL-320.

pypot/dynamixel/conversion.py

@@ -15,6 +15,7 @@
 import numpy
 import itertools
 
+from enum import Enum
 
 # MARK: - Position
 
@@ -247,6 +248,17 @@ def alarm_to_dxl(value, model):
     return sum(2 ** i for i in indices)
 
 
+XL320LEDColors = Enum('Colors', 'off red green yellow '
+                       'blue pink cyan white')
+
+def dxl_to_led_color(value, model):
+    return XL320LEDColors(value + 1).name
+
+def led_color_to_dxl(value, model):
+    value = getattr(XL320LEDColors, value).value - 1
+    value = int(value) & 0b111
+    return value
+
 # MARK: - Various utility functions
 
 def dxl_to_bool(value, model):

pypot/dynamixel/io/io_320.py

@@ -130,6 +130,12 @@ def factory_reset(self, ids, except_ids=False, except_baudrate_and_ids=False):
         'setter_name': '_set_LED',
         'getter_name': 'is_led_on'
     },
+    'LED color': {
+        'address': 0x19,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_led_color,
+        'si_to_dxl': conv.led_color_to_dxl,
+    },
     'pid gain': {
         'address': 0x1B,
         'length': 1,

setup.py

@@ -18,7 +18,7 @@ def version():
       version=version(),
       packages=find_packages(),
 
-      install_requires=['numpy', 'pyserial'],
+      install_requires=['numpy', 'pyserial', 'enum34'],
 
       extras_require={
           'tools': [],  # Extras require: PyQt4 (not a PyPi packet)