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read_write_ax12.py
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read_write_ax12.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################
# Author: Ryu Woon Jung (Leon)
#
# ********* Read and Write Example *********
#
#
# Available DXL model on this example : All models using Protocol 1.0
# This example is tested with a DXL MX-28, and an USB2DYNAMIXEL
# Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
#
import os
if os.name == 'nt':
import msvcrt
def getch():
return msvcrt.getch().decode()
else:
import sys, tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
def getch():
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
from dynamixel_sdk import * # Uses Dynamixel SDK library
# Control table address
ADDR_MX_TORQUE_ENABLE = 24 # Control table address is different in Dynamixel model
ADDR_MX_GOAL_POSITION = 30
ADDR_MX_PRESENT_POSITION = 36
# Protocol version
PROTOCOL_VERSION = 1.0 # See which protocol version is used in the Dynamixel
# Default setting
DXL_ID = 1 # Dynamixel ID : 1
BAUDRATE = 1000000 # Dynamixel default baudrate : 57600
DEVICENAME = '/dev/ttyUSB0' # Check which port is being used on your controller
# ex) Windows: "COM1" Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
TORQUE_ENABLE = 1 # Value for enabling the torque
TORQUE_DISABLE = 0 # Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE = 10 # Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE = 500 # and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL_MOVING_STATUS_THRESHOLD = 20 # Dynamixel moving status threshold
index = 0
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE] # Goal position
# Initialize PortHandler instance
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
portHandler = PortHandler(DEVICENAME)
# Initialize PacketHandler instance
# Set the protocol version
# Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
packetHandler = PacketHandler(PROTOCOL_VERSION)
# Open port
if portHandler.openPort():
print("Succeeded to open the port")
else:
print("Failed to open the port")
print("Press any key to terminate...")
getch()
quit()
# Set port baudrate
if portHandler.setBaudRate(BAUDRATE):
print("Succeeded to change the baudrate")
else:
print("Failed to change the baudrate")
print("Press any key to terminate...")
getch()
quit()
# Enable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE)
if dxl_comm_result != COMM_SUCCESS:
print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % packetHandler.getRxPacketError(dxl_error))
else:
print("Dynamixel has been successfully connected")
while 1:
print("Press any key to continue! (or press ESC to quit!)")
if getch() == chr(0x1b):
break
# Write goal position
dxl_comm_result, dxl_error = packetHandler.write2ByteTxRx(portHandler, DXL_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index])
if dxl_comm_result != COMM_SUCCESS:
print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % packetHandler.getRxPacketError(dxl_error))
while 1:
# Read present position
dxl_present_position, dxl_comm_result, dxl_error = packetHandler.read2ByteTxRx(portHandler, DXL_ID, ADDR_MX_PRESENT_POSITION)
if dxl_comm_result != COMM_SUCCESS:
print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % packetHandler.getRxPacketError(dxl_error))
print("[ID:%03d] GoalPos:%03d PresPos:%03d" % (DXL_ID, dxl_goal_position[index], dxl_present_position))
if not abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD:
break
# Change goal position
if index == 0:
index = 1
else:
index = 0
# Disable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE)
if dxl_comm_result != COMM_SUCCESS:
print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % packetHandler.getRxPacketError(dxl_error))
# Close port
portHandler.closePort()