Python PacketHandler

• Description

Base functions for packet construction.

• Members

  None

• Methods

• Enumerator

Method References

packetHandler

• Syntax

  packetHandler()
  

• Parameters

  None

• Detailed Description

  This function initializes the parameters for packet construction. The function resizes packetData struct and initialzes struct members.

getTxRxResult

• Syntax

  getTxRxResult(result)
  

• Parameters

• Detailed Description

  This function gets communication result as string type.

getRxPacketError

• Syntax

  getRxPacketError(error)
  

• Parameters

• Detailed Description

  This function gets hardware error sent by DYNAMIXEL.

txPacket

• Syntax

   txPacket(port, txpacket)
  

• Parameters

• Detailed Description

  The function transmits the packet. The function clears the port by clearPort function at first, and stores data in the txpacket storage of port. The communication result and the hardware error are available when the function is terminated.

rxPacket

• Syntax

  void rxPacket(port)
  

• Parameters

• Detailed Description

  The function repeatedly tries to receive packets from port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

txRxPacket

• Syntax ``` python txRxPacket(port, txpacket)

- Parameters

| Parameters       | Description                               |
|:-----------------|:------------------------------------------|
| port             | PortHandler instance                      |
| txpacket         | packet byte for sending                   |

- Detailed Description

   The function stores data for being written into the array for packet transmission and gets data read from rx buffer of #`port_num` port by `txPacket` and `rxPacket` functions. When `txPacket` function succeeds to communicate, it will continue to `rxPacket` and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, and BulkWrite, don’t use `rxPacket` so the function finishes its operation immediately after the 'txPacket2'. Before the `rxPacket`, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.


##### ping
- Syntax
``` python
ping(port, dxl_id)

• Parameters

• Detailed Description

  The function uses pingGetModelNum without requesting DYNAMIXEL to send its the model number. The communication result and the hardware error are available when the function is terminated.

broadcastPing

• Syntax ``` python broadcastPing(port, dxl_id)

- Parameters

| Parameters       | Description                               |
|:-----------------|:------------------------------------------|
| port             | PortHandler instance                      |
| dxl_id           | DYNAMIXEL ID                              |


- Detailed Description

   The function finds all connected dynamixels and store their id in the list. The function is unavailable in protocol 1.0.


##### action
- Syntax
``` python
action(port, dxl_id)

• Parameters

• Detailed Description

  The function pulls the trigger of sending txpacket previously set by regWriteTxOnly or regWriteTxRx function, using txRxPacket function. The communication result and the hardware error are available when the function is terminated.

reboot

• Syntax

  void reboot(port, dxl_id)
  

• Parameters

• Detailed Description

  The function constructs the transmission packet with reboot instruction, and starts txRxPacket. The function may perform its role when the DYNAMIXEL stops working caused by hardware error. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

factoryReset

• Syntax ``` python factoryReset(port, dxl_id, option)

- Parameters

| Parameters       | Description                               |
|:-----------------|:------------------------------------------|
| port             | PortHandler instance                      |
| dxl_id           | DYNAMIXEL ID                              |
| option           | Reset option                              |

- Detailed Description

   The function constructs the transmission packet for reset DYNAMIXEL, and starts `txRxPacket`. The resets targeted DYNAMIXEL's settings to the factory default settings. The `option` indicates the range of which items on the control table should be reset: `0xFF` for resetting all values, `0x01` for resetting all values except ID, `0x02` for resetting all values except ID and Baudrate. The communication result and the hardware error are available when the function is terminated. In protocol 1.0, `option` is selectable with only full-reset mode `0x00`.

##### readTx
- Syntax
``` python
readTx(port, dxl_id, address, length)

• Parameters

• Detailed Description

  The function constructs the transmission packet with read instruction, and starts txPacket. Then the function calls setPacketTimeout function when packet transmission succeeds. The function can’t control more than one DYNAMIXEL at once. The communication result and the hardware error are available when the function is terminated.

readRx

• Syntax

  readRx(port, dxl_id, length)
  

• Parameters

• Detailed Description

  The function calls rxPacket2 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx

• Syntax

  readTxRx(port, dxl_id, address, length)
  

• Parameters

• Detailed Description

  The function calls readTx function and readRx function. readRx function will be called when readTx succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx

• Syntax

  read1ByteTx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTx function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx

• Syntax

  read1ByteRx(port, dxl_id)
  

• Parameters

• Detailed Description

  The function calls readRx function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx

• Syntax

  read1ByteTxRx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTxRx function to read 1 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read2ByteTx

• Syntax

  read2ByteTx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTx function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx

• Syntax

  read2ByteRx(port, dxl_id)
  

• Parameters

• Detailed Description

  The function calls readRx function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx

• Syntax

  read2ByteTxRx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTxRx function to read 2 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read4ByteTx

• Syntax

  read4ByteTx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTx function to send 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

read4ByteRx

• Syntax

  read4ByteRx(port, dxl_id)
  

• Parameters

• Detailed Description

  The function calls readRx function to receive response packet of 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

read4ByteTxRx

• Syntax

  read4ByteTxRx(port, dxl_id, address)
  

• Parameters

• Detailed Description

  The function calls readTxRx function to read 4 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

writeTxOnly

• Syntax

  writeTxOnly(port, dxl_id, address, length, data)
  

• Parameters

• Detailed Description

  The function constructs the transmission packet with write instruction, and starts txPacket. The communication result and the hardware error are available when the function is terminated.

writeTxRx

• Syntax

  writeTxRx(port, dxl_id, address, length, data)
  

• Parameters

• Detailed Description

  The function constructs the transmission packet with write instruction, and starts txRxPacket. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly

• Syntax

  write1ByteTxOnly(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxOnly function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx

• Syntax

  write1ByteTxRx(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxRx function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly

• Syntax

  write2ByteTxOnly(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxOnly function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx

• Syntax

  write2ByteTxRx(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxRx function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly

• Syntax

  write4ByteTxOnly(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxOnly function to send 4 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

write4ByteTxRx

• Syntax

  write4ByteTxRx(port, dxl_id, address, data)
  

• Parameters

• Detailed Description

  The function calls writeTxRx function to send 4 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

regWriteTxOnly

• Syntax

  regWriteTxOnly(port, dxl_id, address, length, data)
  

• Parameters

• Detailed Description

  The function intends simultaneous control of more than one DYNAMIXEL. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx

• Syntax

  regWriteTxRx(port, dxl_id, address, length, data)
  

• Parameters

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL’s control. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

syncReadTx

• Syntax

  syndReadTx(port, start_address, data_length, param, param_length)
  

• Parameters

• Detailed Description

  The function intends simultanoues multiple DYNAMIXEL’s control by reading same length of data from the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync read instruction, and starts ‘txPacket2’. Then the function calls setPacketTimeout function when txPacket succeeds. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

syncWriteTxOnly

• Syntax

  syncWriteTxOnly(port, start_address, data_length, param, param_length)
  

• Parameters

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL’s control by writing same length of data to the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket. The communication result and the hardware error are available when the function is terminated.

bulkReadTx

• Syntax

  bulkReadTx(port, param, param_length)
  

• Parameters

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL’s control by writing different length of data to the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket. Then the function calls setPacketTimeout function when txPacket succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly

• Syntax

  bulkWriteTxOnly(port, param, param_length)
  

• Parameters

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL’s control by writing different length of data from the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk write instruction, and starts TxRxPacket. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.