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ax12.py
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ax12.py
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'''
Based on Jesse Merritt's script:
https://github.com/jes1510/python_dynamixels
and Josue Alejandro Savage's Arduino library:
http://savageelectronics.blogspot.it/2011/01/arduino-y-dynamixel-ax-12.html
'''
from time import sleep
from serial import Serial
import RPi.GPIO as GPIO
class Ax12:
# important AX-12 constants
# /////////////////////////////////////////////////////////// EEPROM AREA
AX_MODEL_NUMBER_L = 0
AX_MODEL_NUMBER_H = 1
AX_VERSION = 2
AX_ID = 3
AX_BAUD_RATE = 4
AX_RETURN_DELAY_TIME = 5
AX_CW_ANGLE_LIMIT_L = 6
AX_CW_ANGLE_LIMIT_H = 7
AX_CCW_ANGLE_LIMIT_L = 8
AX_CCW_ANGLE_LIMIT_H = 9
AX_SYSTEM_DATA2 = 10
AX_LIMIT_TEMPERATURE = 11
AX_DOWN_LIMIT_VOLTAGE = 12
AX_UP_LIMIT_VOLTAGE = 13
AX_MAX_TORQUE_L = 14
AX_MAX_TORQUE_H = 15
AX_RETURN_LEVEL = 16
AX_ALARM_LED = 17
AX_ALARM_SHUTDOWN = 18
AX_OPERATING_MODE = 19
AX_DOWN_CALIBRATION_L = 20
AX_DOWN_CALIBRATION_H = 21
AX_UP_CALIBRATION_L = 22
AX_UP_CALIBRATION_H = 23
# ////////////////////////////////////////////////////////////// RAM AREA
AX_TORQUE_STATUS = 24
AX_LED_STATUS = 25
AX_CW_COMPLIANCE_MARGIN = 26
AX_CCW_COMPLIANCE_MARGIN = 27
AX_CW_COMPLIANCE_SLOPE = 28
AX_CCW_COMPLIANCE_SLOPE = 29
AX_GOAL_POSITION_L = 30
AX_GOAL_POSITION_H = 31
AX_GOAL_SPEED_L = 32
AX_GOAL_SPEED_H = 33
AX_TORQUE_LIMIT_L = 34
AX_TORQUE_LIMIT_H = 35
AX_PRESENT_POSITION_L = 36
AX_PRESENT_POSITION_H = 37
AX_PRESENT_SPEED_L = 38
AX_PRESENT_SPEED_H = 39
AX_PRESENT_LOAD_L = 40
AX_PRESENT_LOAD_H = 41
AX_PRESENT_VOLTAGE = 42
AX_PRESENT_TEMPERATURE = 43
AX_REGISTERED_INSTRUCTION = 44
AX_PAUSE_TIME = 45
AX_MOVING = 46
AX_LOCK = 47
AX_PUNCH_L = 48
AX_PUNCH_H = 49
# /////////////////////////////////////////////////////////////// Status Return Levels
AX_RETURN_NONE = 0
AX_RETURN_READ = 1
AX_RETURN_ALL = 2
# /////////////////////////////////////////////////////////////// Instruction Set
AX_PING = 1
AX_READ_DATA = 2
AX_WRITE_DATA = 3
AX_REG_WRITE = 4
AX_ACTION = 5
AX_RESET = 6
AX_SYNC_WRITE = 131
# /////////////////////////////////////////////////////////////// Lengths
AX_RESET_LENGTH = 2
AX_ACTION_LENGTH = 2
AX_ID_LENGTH = 4
AX_LR_LENGTH = 4
AX_SRL_LENGTH = 4
AX_RDT_LENGTH = 4
AX_LEDALARM_LENGTH = 4
AX_SHUTDOWNALARM_LENGTH = 4
AX_TL_LENGTH = 4
AX_VL_LENGTH = 6
AX_AL_LENGTH = 7
AX_CM_LENGTH = 6
AX_CS_LENGTH = 5
AX_COMPLIANCE_LENGTH = 7
AX_CCW_CW_LENGTH = 8
AX_BD_LENGTH = 4
AX_TEM_LENGTH = 4
AX_MOVING_LENGTH = 4
AX_RWS_LENGTH = 4
AX_VOLT_LENGTH = 4
AX_LOAD_LENGTH = 4
AX_LED_LENGTH = 4
AX_TORQUE_LENGTH = 4
AX_POS_LENGTH = 4
AX_GOAL_LENGTH = 5
AX_MT_LENGTH = 5
AX_PUNCH_LENGTH = 5
AX_SPEED_LENGTH = 5
AX_GOAL_SP_LENGTH = 7
# /////////////////////////////////////////////////////////////// Specials
AX_BYTE_READ = 1
AX_INT_READ = 2
AX_ACTION_CHECKSUM = 250
AX_BROADCAST_ID = 254
AX_START = 255
AX_CCW_AL_L = 255
AX_CCW_AL_H = 3
AX_LOCK_VALUE = 1
LEFT = 0
RIGTH = 1
RX_TIME_OUT = 10
TX_DELAY_TIME = 0.00002
# RPi constants
RPI_DIRECTION_PIN = 18
RPI_DIRECTION_TX = GPIO.HIGH
RPI_DIRECTION_RX = GPIO.LOW
RPI_DIRECTION_SWITCH_DELAY = 0.0001
# static variables
port = None
gpioSet = False
def __init__(self):
if(Ax12.port == None):
Ax12.port = Serial("/dev/ttyAMA0", baudrate=1000000, timeout=0.001)
if(not Ax12.gpioSet):
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(Ax12.RPI_DIRECTION_PIN, GPIO.OUT)
Ax12.gpioSet = True
self.direction(Ax12.RPI_DIRECTION_RX)
connectedServos = []
# Error lookup dictionary for bit masking
dictErrors = { 1 : "Input Voltage",
2 : "Angle Limit",
4 : "Overheating",
8 : "Range",
16 : "Checksum",
32 : "Overload",
64 : "Instruction"
}
# Custom error class to report AX servo errors
class axError(Exception) : pass
# Servo timeout
class timeoutError(Exception) : pass
def direction(self,d):
GPIO.output(Ax12.RPI_DIRECTION_PIN, d)
sleep(Ax12.RPI_DIRECTION_SWITCH_DELAY)
def readData(self,id):
self.direction(Ax12.RPI_DIRECTION_RX)
reply = Ax12.port.read(5) # [0xff, 0xff, origin, length, error]
try:
assert ord(reply[0]) == 0xFF
except:
e = "Timeout on servo " + str(id)
raise Ax12.timeoutError(e)
try :
length = ord(reply[3]) - 2
error = ord(reply[4])
if(error != 0):
print "Error from servo: " + Ax12.dictErrors[error] + ' (code ' + hex(error) + ')'
return -error
# just reading error bit
elif(length == 0):
return error
else:
if(length > 1):
reply = Ax12.port.read(2)
returnValue = (ord(reply[1])<<8) + (ord(reply[0])<<0)
else:
reply = Ax12.port.read(1)
returnValue = ord(reply[0])
return returnValue
except Exception, detail:
raise Ax12.axError(detail)
def ping(self,id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_READ_DATA + Ax12.AX_PING))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PING)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def factoryReset(self,id, confirm = False):
if(confirm):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_RESET_LENGTH + Ax12.AX_RESET))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_RESET_LENGTH)
outData += chr(Ax12.AX_RESET)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
else:
print "nothing done, please send confirm = True as this fuction reset to the factory default value, i.e reset the motor ID"
return
def setID(self, id, newId):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_ID_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_ID + newId))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_ID_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_ID)
outData += chr(newId)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setBaudRate(self, id, baudRate):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
br = ((2000000/long(baudRate))-1)
checksum = (~(id + Ax12.AX_BD_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_BAUD_RATE + br))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_BD_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_BAUD_RATE)
outData += chr(br)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setStatusReturnLevel(self, id, level):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_SRL_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_RETURN_LEVEL + level))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_SRL_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_RETURN_LEVEL)
outData += chr(level)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setReturnDelayTime(self, id, delay):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_RDT_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_RETURN_DELAY_TIME + (int(delay)/2)&0xff))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_RDT_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_RETURN_DELAY_TIME)
outData += chr((int(delay)/2)&0xff)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def lockRegister(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_LR_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_LOCK + Ax12.AX_LOCK_VALUE))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_LR_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_LOCK)
outData += chr(Ax12.AX_LOCK_VALUE)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def move(self, id, position):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
p = [position&0xff, position>>8]
checksum = (~(id + Ax12.AX_GOAL_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_GOAL_POSITION_L + p[0] + p[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_GOAL_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_GOAL_POSITION_L)
outData += chr(p[0])
outData += chr(p[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def moveSpeed(self, id, position, speed):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
p = [position&0xff, position>>8]
s = [speed&0xff, speed>>8]
checksum = (~(id + Ax12.AX_GOAL_SP_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_GOAL_POSITION_L + p[0] + p[1] + s[0] + s[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_GOAL_SP_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_GOAL_POSITION_L)
outData += chr(p[0])
outData += chr(p[1])
outData += chr(s[0])
outData += chr(s[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def moveRW(self, id, position):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
p = [position&0xff, position>>8]
checksum = (~(id + Ax12.AX_GOAL_LENGTH + Ax12.AX_REG_WRITE + Ax12.AX_GOAL_POSITION_L + p[0] + p[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_GOAL_LENGTH)
outData += chr(Ax12.AX_REG_WRITE)
outData += chr(Ax12.AX_GOAL_POSITION_L)
outData += chr(p[0])
outData += chr(p[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def moveSpeedRW(self, id, position, speed):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
p = [position&0xff, position>>8]
s = [speed&0xff, speed>>8]
checksum = (~(id + Ax12.AX_GOAL_SP_LENGTH + Ax12.AX_REG_WRITE + Ax12.AX_GOAL_POSITION_L + p[0] + p[1] + s[0] + s[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_GOAL_SP_LENGTH)
outData += chr(Ax12.AX_REG_WRITE)
outData += chr(Ax12.AX_GOAL_POSITION_L)
outData += chr(p[0])
outData += chr(p[1])
outData += chr(s[0])
outData += chr(s[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def action(self):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(Ax12.AX_BROADCAST_ID)
outData += chr(Ax12.AX_ACTION_LENGTH)
outData += chr(Ax12.AX_ACTION)
outData += chr(Ax12.AX_ACTION_CHECKSUM)
Ax12.port.write(outData)
#sleep(Ax12.TX_DELAY_TIME)
def setTorqueStatus(self, id, status):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
ts = 1 if ((status == True) or (status == 1)) else 0
checksum = (~(id + Ax12.AX_TORQUE_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_TORQUE_STATUS + ts))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_TORQUE_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_TORQUE_STATUS)
outData += chr(ts)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setLedStatus(self, id, status):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
ls = 1 if ((status == True) or (status == 1)) else 0
checksum = (~(id + Ax12.AX_LED_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_LED_STATUS + ls))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_LED_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_LED_STATUS)
outData += chr(ls)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setTemperatureLimit(self, id, temp):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_TL_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_LIMIT_TEMPERATURE + temp))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_TL_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_LIMIT_TEMPERATURE)
outData += chr(temp)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setVoltageLimit(self, id, lowVolt, highVolt):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_VL_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_DOWN_LIMIT_VOLTAGE + lowVolt + highVolt))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_VL_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_DOWN_LIMIT_VOLTAGE)
outData += chr(lowVolt)
outData += chr(highVolt)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setAngleLimit(self, id, cwLimit, ccwLimit):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
cw = [cwLimit&0xff, cwLimit>>8]
ccw = [ccwLimit&0xff, ccwLimit>>8]
checksum = (~(id + Ax12.AX_AL_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_CW_ANGLE_LIMIT_L + cw[0] + cw[1] + ccw[0] + ccw[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_AL_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_CW_ANGLE_LIMIT_L)
outData += chr(cw[0])
outData += chr(cw[1])
outData += chr(ccw[0])
outData += chr(ccw[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setTorqueLimit(self, id, torque):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
mt = [torque&0xff, torque>>8]
checksum = (~(id + Ax12.AX_MT_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_MAX_TORQUE_L + mt[0] + mt[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_MT_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_MAX_TORQUE_L)
outData += chr(mt[0])
outData += chr(mt[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setPunchLimit(self, id, punch):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
p = [punch&0xff, punch>>8]
checksum = (~(id + Ax12.AX_PUNCH_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_PUNCH_L + p[0] + p[1]))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_PUNCH_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_PUNCH_L)
outData += chr(p[0])
outData += chr(p[1])
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setCompliance(self, id, cwMargin, ccwMargin, cwSlope, ccwSlope):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_COMPLIANCE_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_CW_COMPLIANCE_MARGIN + cwMargin + ccwMargin + cwSlope + ccwSlope))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_COMPLIANCE_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_CW_COMPLIANCE_MARGIN)
outData += chr(cwMargin)
outData += chr(ccwMArgin)
outData += chr(cwSlope)
outData += chr(ccwSlope)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setLedAlarm(self, id, alarm):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_LEDALARM_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_ALARM_LED + alarm))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_LEDALARM_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_ALARM_LED)
outData += chr(alarm)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def setShutdownAlarm(self, id, alarm):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_SHUTDOWNALARM_LENGTH + Ax12.AX_WRITE_DATA + Ax12.AX_ALARM_SHUTDOWN + alarm))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_SHUTDOWNALARM_LENGTH)
outData += chr(Ax12.AX_WRITE_DATA)
outData += chr(Ax12.AX_ALARM_SHUTDOWN)
outData += chr(alarm)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readTemperature(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_TEM_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_PRESENT_TEMPERATURE + Ax12.AX_BYTE_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_TEM_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PRESENT_TEMPERATURE)
outData += chr(Ax12.AX_BYTE_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readPosition(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_POS_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_PRESENT_POSITION_L + Ax12.AX_INT_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_POS_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PRESENT_POSITION_L)
outData += chr(Ax12.AX_INT_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readVoltage(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_VOLT_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_PRESENT_VOLTAGE + Ax12.AX_BYTE_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_VOLT_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PRESENT_VOLTAGE)
outData += chr(Ax12.AX_BYTE_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readSpeed(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_SPEED_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_PRESENT_SPEED_L + Ax12.AX_INT_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_SPEED_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PRESENT_SPEED_L)
outData += chr(Ax12.AX_INT_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readLoad(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_LOAD_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_PRESENT_LOAD_L + Ax12.AX_INT_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_LOAD_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_PRESENT_LOAD_L)
outData += chr(Ax12.AX_INT_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readMovingStatus(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_MOVING_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_MOVING + Ax12.AX_BYTE_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_MOVING_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_MOVING)
outData += chr(Ax12.AX_BYTE_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def readRWStatus(self, id):
self.direction(Ax12.RPI_DIRECTION_TX)
Ax12.port.flushInput()
checksum = (~(id + Ax12.AX_RWS_LENGTH + Ax12.AX_READ_DATA + Ax12.AX_REGISTERED_INSTRUCTION + Ax12.AX_BYTE_READ))&0xff
outData = chr(Ax12.AX_START)
outData += chr(Ax12.AX_START)
outData += chr(id)
outData += chr(Ax12.AX_RWS_LENGTH)
outData += chr(Ax12.AX_READ_DATA)
outData += chr(Ax12.AX_REGISTERED_INSTRUCTION)
outData += chr(Ax12.AX_BYTE_READ)
outData += chr(checksum)
Ax12.port.write(outData)
sleep(Ax12.TX_DELAY_TIME)
return self.readData(id)
def learnServos(self,minValue=1, maxValue=6, verbose=False) :
servoList = []
for i in range(minValue, maxValue + 1):
try :
temp = self.ping(i)
servoList.append(i)
if verbose: print "Found servo #" + str(i)
time.sleep(0.1)
except Exception, detail:
if verbose : print "Error pinging servo #" + str(i) + ': ' + str(detail)
pass
return servoList
#
#def playPose() :
# '''
# Open a file and move the servos to specified positions in a group move
# '''
# infile=open(Arguments.playpose, 'r') # Open the file
# poseDict = {} # Dictionary to hold poses and positions
# if Arguments.verbose : print "Reading pose from", Arguments.playpose
# for line in infile.readlines() : # Read the file and step through it
# servo = int(line.split(':')[0]) # Servo is first
# position = int(line.split(':')[1]) # Position is second
# poseDict[servo]=position # add the servo to the Dictionary
#
# groupMove2(poseDict)
#
#
#
#def writePose() :
# '''
# Read the servos and save the positions to a file
# '''
# of = open(Arguments.savepose, 'w') # open the output file
# pose = getPose2(connectedServos) # get the positions
# if Arguments.verbose :
# print "Servo Positions"
# print "---------------"
#
# for key in pose.keys(): # step through the keys, writing to the file
# if Arguments.verbose : print "Servo " + str(key), pose[key]
# of.write(str(key) + ':' + str(pose[key]) + '\n') # Write to the file
#
# if Arguments.verbose :
# print "Wrote pose to " + Arguments.savepose
# print
#
# of.close() # close the file
#