DYNAMIXEL SDK

Python PortHandler

Description

Base class for serial communication.

Members

Members	Description
DEFAULT_BAUDRATE_	:=1000000 Default Baudrate
is_using_	Shows whether the port is in-use

Methods

Methods	Description
PortHandler	Initializes parameters for serial port control
openPort	Opens a serial port
closePort	Closes a serial port
clearPort	Refreshes a serial port
setPortName	Sets a device name
getPortName	Gets a device name
setBaudrate	Sets a baudrate
getBaudrate	Gets a baudrate
getBytesAvailable	Checks how many bytes can be read in port buffer
readPort	Reads bytes from port buffer
writePort	Writes bytes to port buffer
setPacketTimeout	Sets timeout
isPacketTimeout	Checks whether communication has been succeeded in timeout

Enumerator

None

Method References

PortHandler

Syntax
```
PortHandler(port_name)
```
Parameters

Parameters	Description
port_name	Port name

Detailed Description

The function initializes the parameters for port control.

openPort

Syntax
```
openPort()
```
Parameters

None

Detailed Description

This function opens the port by setBaudRate function using default baudrate(1M). If the baudrate is needed to be changed to another baudrate value, setBaudRate function should be called again after calling openPort function. When the port succeeds to be opened, this function will return true, and if not, then false.

closePort

Syntax
```
closePort()
```
Parameters

None

Detailed Description

This function closes the port.

clearPort

Syntax
```
clearPort()
```
Parameters

None

Detailed Description

This function clears the port.

setPortName

Syntax
```
setPortName(port_name)
```
Parameters

Parameters	Description
port_name	Port name

Detailed Description

This function sets the device name as port_name.

getPortName

Syntax
```
getPortName()
```
Parameters

None

Detailed Description

This function returns the device name which the port is using.

setBaudrate

Syntax

setBaudrate(baudrate)

Parameters

Parameters	Description
baudrate	Target baudrate

Description

This function checks whether the baudrate is available in selected operating system at first. If the baudrate is not available, it returns -1.

getBaudrate

Syntax

getBaudrate()

Parameters

None

Description

This function returns the baudrate value previously set.

getBytesAvailable

Syntax

getBytesAvailable()

Parameters

None

Description

This function checks how much the data can be read, and returns its length.

readPort

Syntax

readPort(length)

Parameters

Parameters	Description
length	Byte length for read

Description

This function gets the byte data from port buffer and returns the byte data.

writePort

Syntax

 writePort(packet)

Parameters

Parameters	Description
packet	The number of data bytes to write
length	Byte length for write

Description

This function transmits byte data, and returns how much the data was written.

setPacketTimeout

Syntax

setPacketTimeout(packet_length)

Parameters

Parameters	Description
Packet_length	Target byte length for write

Description

This function sets the start time when it transmits the packet, and set the timeout of packet transmission to be ready for deciding communication result.

setPacketTimeoutMillis

Syntax

setPacketTimeoutMillis(msec)

Parameters

Parameters	Description
msec	Miliseconds

Description

This function sets the start time with msec milisecond value when it transmits the packet, and set the timeout of packet transmission to be ready for deciding communication result.

isPacketTimeout

Syntax

isPacketTimeout()

Parameters

None

Description

This function decides the timeover of packet communication. If the time limit is over, it returns false.