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dynio

dynio.dynamixel_controller

DynamixelIO

DynamixelIO(self, device_name='/dev/ttyUSB0', baud_rate=57600)

Creates communication handler for Dynamixel motors

write_control_table

DynamixelIO.write_control_table(protocol, dxl_id, value, address, size)

Writes a specified value to a given address in the control table

read_control_table

DynamixelIO.read_control_table(protocol, dxl_id, address, size)

Returns the held value from a given address in the control table

new_motor

DynamixelIO.new_motor(dxl_id,
                      json_file,
                      protocol=2,
                      control_table_protocol=None)

Returns a new DynamixelMotor object of a given protocol with a given control table

new_ax12

DynamixelIO.new_ax12(dxl_id)

Returns a new DynamixelMotor object for an AX12

new_mx12

DynamixelIO.new_mx12(dxl_id)

Returns a new DynamixelMotor object for an MX12

new_mx28

DynamixelIO.new_mx28(dxl_id, protocol=1, control_table_protocol=None)

Returns a new DynamixelMotor object for an MX28

new_mx64

DynamixelIO.new_mx64(dxl_id, protocol=1, control_table_protocol=None)

Returns a new DynamixelMotor object for an MX64

new_mx106

DynamixelIO.new_mx106(dxl_id, protocol=1, control_table_protocol=None)

Returns a new DynamixelMotor object for an MX106

new_ax12_1

DynamixelIO.new_ax12_1(*args, **kwargs)

Returns a new DynamixelMotor object for an AX12

.. deprecated:: 0.8 This will be removed in 1.0. Use new_ax12() instead

new_mx_2

DynamixelIO.new_mx_2(*args, **kwargs)

Returns a new DynamixelMotor object of a given protocol for an MX series

.. deprecated:: 0.8 This will be removed in 1.0. Use the specific new motor function instead

new_mx12_1

DynamixelIO.new_mx12_1(*args, **kwargs)

Returns a new DynamixelMotor object for an MX12

.. deprecated:: 0.8 This will be removed in 1.0. Use new_mx12() instead

new_mx28_1

DynamixelIO.new_mx28_1(*args, **kwargs)

Returns a new DynamixelMotor object for an MX28

.. deprecated:: 0.8 This will be removed in 1.0. Use new_mx28() instead

new_mx64_1

DynamixelIO.new_mx64_1(*args, **kwargs)

Returns a new DynamixelMotor object for an MX64

.. deprecated:: 0.8 This will be removed in 1.0. Use new_mx64() instead

new_mx106_1

DynamixelIO.new_mx106_1(*args, **kwargs)

Returns a new DynamixelMotor object for an MX106

.. deprecated:: 0.8 This will be removed in 1.0. Use new_mx106() instead

DynamixelMotor

DynamixelMotor(self,
               dxl_id,
               dxl_io,
               json_file,
               protocol=1,
               control_table_protocol=None)

Creates the basis of individual motor objects

write_control_table

DynamixelMotor.write_control_table(data_name, value)

Writes a value to a control table area of a specific name

read_control_table

DynamixelMotor.read_control_table(data_name)

Reads the value from a control table area of a specific name

set_velocity_mode

DynamixelMotor.set_velocity_mode(goal_current=None)

Sets the motor to run in velocity (wheel) mode and sets the goal current if provided

set_position_mode

DynamixelMotor.set_position_mode(min_limit=None,
                                 max_limit=None,
                                 goal_current=None)

Sets the motor to run in position (joint) mode and sets the goal current if provided. If position limits are not specified, the full range of motion is used instead

set_extended_position_mode

DynamixelMotor.set_extended_position_mode(goal_current=None)

Sets the motor to run in extended position (multi-turn) mode

set_velocity

DynamixelMotor.set_velocity(velocity)

Sets the goal velocity of the motor

set_acceleration

DynamixelMotor.set_acceleration(acceleration)

Sets the goal acceleration of the motor

set_position

DynamixelMotor.set_position(position)

Sets the goal position of the motor

set_angle

DynamixelMotor.set_angle(angle)

Sets the goal position of the motor with a given angle in degrees

get_position

DynamixelMotor.get_position()

Returns the motor position

get_angle

DynamixelMotor.get_angle()

Returns the motor position as an angle in degrees

get_current

DynamixelMotor.get_current()

Returns the current motor load

torque_enable

DynamixelMotor.torque_enable()

Enables motor torque

torque_disable

DynamixelMotor.torque_disable()

Disables motor torque