Python Multi Port Protocol 2.0
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Description
This example writes goal position to DYNAMIXEL connected to two serial ports, and reads their present position until Dynamixel stops moving.
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Available Dynamixel
All series using protocol 2.0
Sample code
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# multi_port.py
#
# Created on: 2016. 6. 16.
# Author: Ryu Woon Jung (Leon)
#
#
# ********* MultiPort Example *********
#
#
# Available Dynamixel model on this example : All models using Protocol 2.0
# This example is designed for using two Dynamixel PRO 54-200, and two USB2DYNAMIXELs.
# To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
# Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
#
import os, sys
if os.name == 'nt':
import msvcrt
def getch():
return msvcrt.getch().decode()
else:
import tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
tty.setraw(sys.stdin.fileno())
def getch():
return sys.stdin.read(1)
os.sys.path.append('../dynamixel_functions_py') # Path setting
import dynamixel_functions as dynamixel # Uses DYNAMIXEL SDK library
# Control table address
ADDR_PRO_TORQUE_ENABLE = 562 # Control table address is different in Dynamixel model
ADDR_PRO_GOAL_POSITION = 596
ADDR_PRO_PRESENT_POSITION = 611
# Protocol version
PROTOCOL_VERSION = 2 # See which protocol version is used in the Dynamixel
# Default setting
DXL1_ID = 1 # Dynamixel ID: 1
DXL2_ID = 2 # Dynamixel ID: 2
BAUDRATE = 1000000
DEVICENAME1 = "/dev/ttyUSB0".encode('utf-8') # Check which port is being used on your controller
DEVICENAME2 = "/dev/ttyUSB1".encode('utf-8') # ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
TORQUE_ENABLE = 1 # Value for enabling the torque
TORQUE_DISABLE = 0 # Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE = -150000 # Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE = 150000 # 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 = 10 # Dynamixel moving status threshold
ESC_ASCII_VALUE = 0x1b
COMM_SUCCESS = 0 # Communication Success result value
COMM_TX_FAIL = -1001 # Communication Tx Failed
# Initialize PortHandler Structs
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num1 = dynamixel.portHandler(DEVICENAME1)
port_num2 = dynamixel.portHandler(DEVICENAME2)
# Initialize PacketHandler Structs
dynamixel.packetHandler()
index = 0
dxl_comm_result = COMM_TX_FAIL # Communication result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE] # Goal position
dxl_error = 0 # Dynamixel error
dxl1_present_position = 0 # Present position
dxl2_present_position = 0
# Open port1
if dynamixel.openPort(port_num1):
print("Succeeded to open the port!")
else:
print("Failed to open the port!")
print("Press any key to terminate...")
getch()
quit()
# Open port2
if dynamixel.openPort(port_num2):
print("Succeeded to open the port!")
else:
print("Failed to open the port!")
print("Press any key to terminate...")
getch()
quit()
# Set port1 baudrate
if dynamixel.setBaudRate(port_num1, BAUDRATE):
print("Succeeded to change the baudrate!")
else:
print("Failed to change the baudrate!")
print("Press any key to terminate...")
getch()
quit()
# Set port2 baudrate
if dynamixel.setBaudRate(port_num2, BAUDRATE):
print("Succeeded to change the baudrate!")
else:
print("Failed to change the baudrate!")
print("Press any key to terminate...")
getch()
quit()
# Enable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
else:
print("Dynamixel#1 has been successfully connected")
# Enable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
else:
print("Dynamixel#2 has been successfully connected")
while 1:
print("Press any key to continue! (or press ESC to quit!)")
if getch() == chr(ESC_ASCII_VALUE):
break
# Write Dynamixel#1 goal position
dynamixel.write4ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index])
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Write Dynamixel#2 goal position
dynamixel.write4ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index])
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
while 1:
# Read present position
dxl1_present_position = dynamixel.read4ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_PRESENT_POSITION)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Read present position
dxl2_present_position = dynamixel.read4ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_PRESENT_POSITION)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
print("[ID:%03d] GoalPos:%03d PresPos:%03d\t[ID:%03d] GoalPos:%03d PresPos:%03d" % (DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position))
if not ((abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) or (abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD)):
break
# Change goal position
if index == 0:
index = 1
else:
index = 0
# Disable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Disable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
# Close port
dynamixel.closePort(port_num1)
dynamixel.closePort(port_num2)
Details
import os, sys
if os.name == 'nt':
import msvcrt
def getch():
return msvcrt.getch().decode()
else:
import tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
tty.setraw(sys.stdin.fileno())
def getch():
return sys.stdin.read(1)
os.sys.path.append('../dynamixel_functions_py') # Path setting
import dynamixel_functions as dynamixel # Uses DYNAMIXEL SDK library
getch()
gets the input which is for example code control.
os.sys.path.append()
sets paths of function reference.
This example uses dynamixel_functions
library as dynamixel
imported from dynamixel_functions_py
package.
# Control table address
ADDR_PRO_TORQUE_ENABLE = 562 # Control table address is different in Dynamixel model
ADDR_PRO_GOAL_POSITION = 596
ADDR_PRO_PRESENT_POSITION = 611
Dynamixel series have their own control tables: Addresses and Byte Length in each items. To control one of the items, its address (and length if necessary) is required. Find your requirements in http://emanual.robotis.com/.
# Protocol version
PROTOCOL_VERSION = 2 # See which protocol version is used in the Dynamixel
Dynamixel uses either or both protocols: Protocol 1.0 and Protocol 2.0. Choose one of the Protocol which is appropriate in the Dynamixel.
# Default setting
DXL1_ID = 1 # Dynamixel ID: 1
DXL2_ID = 2 # Dynamixel ID: 2
BAUDRATE = 1000000
DEVICENAME1 = "/dev/ttyUSB0".encode('utf-8') # Check which port is being used on your controller
DEVICENAME2 = "/dev/ttyUSB1".encode('utf-8') # ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
TORQUE_ENABLE = 1 # Value for enabling the torque
TORQUE_DISABLE = 0 # Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE = -150000 # Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE = 150000 # 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 = 10 # Dynamixel moving status threshold
ESC_ASCII_VALUE = 0x1b
Here we set some variables to let you freely change them and use them to run the example code.
As the document previously said in previous chapter, customize Dynamixel control table items, such as DXL_ID
number, communication BAUDRATE
, and the DEVICENAME
, on your own terms of needs. In particular, BAUDRATE
and DEVICENAME
have systematical dependencies on your controller, so make clear what kind of communication method you will use.
The example uses two DYNAMIXEL’s DXL1_ID
, DXL2_ID
connected with each ports DEVICENAME1
, DEVICENAME2
Dynamixel basically needs the TORQUE_ENABLE
to be rotating or give you its internal information. On the other hand, it doesn’t need torque enabled if you get your goal, so finally do TORQUE_DISABLE
to prepare to the next sequence.
Since the Dynamixel has its own rotation range, it may shows malfunction if your request on your dynamixel is out of range. For example, Dynamixel MX-28 and Dynamixel PRO 54-200 has its rotatable range as 0 ~ 4028 and -250950 ~ 250950, each.
DXL_MOVING_STATUS_THRESHOLD
acts as a criteria for verifying its rotation stopped.
COMM_SUCCESS = 0 # Communication Success result value
COMM_TX_FAIL = -1001 # Communication Tx Failed
Each of the variables above show the meaning of the communication result value.
# Initialize PortHandler Structs
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num1 = dynamixel.portHandler(DEVICENAME1)
port_num2 = dynamixel.portHandler(DEVICENAME2)
portHandler()
function sets port path as DEVICENAME1
and DEVICENAME2
and get port_num1
and port_num2
each, and prepares an appropriate functions for port control in controller OS automatically. port_num1
and port_num2
would be used in many functions in the body of the code to specify the port for use.
# Initialize PacketHandler Structs
dynamixel.packetHandler()
packetHandler()
function initializes parameters used for packet construction and packet storing.
index = 0
dxl_comm_result = COMM_TX_FAIL # Communication result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE] # Goal position
dxl_error = 0 # Dynamixel error
dxl1_present_position = 0 # Present position
dxl2_present_position = 0
index
variable points the direction to where the Dynamixel should be rotated.
dxl_comm_result
indicates which error has been occurred during packet communication.
dxl_goal_position
stores goal points of Dynamixel rotation.
dxl_error
shows the internal error in Dynamixel.
dxl1_present_position
and dxl2_present_position
view where now each Dynamixel points out.
# Open port1
if dynamixel.openPort(port_num1):
print("Succeeded to open the port!")
else:
print("Failed to open the port!")
print("Press any key to terminate...")
getch()
quit()
# Open port2
if dynamixel.openPort(port_num2):
print("Succeeded to open the port!")
else:
print("Failed to open the port!")
print("Press any key to terminate...")
getch()
quit()
First, controller opens #port_num1
and #port_num2
port to do serial communication with the Dynamixel. If it fails to open the port, the example will be terminated.
# Set port1 baudrate
if dynamixel.setBaudRate(port_num1, BAUDRATE):
print("Succeeded to change the baudrate!")
else:
print("Failed to change the baudrate!")
print("Press any key to terminate...")
getch()
quit()
# Set port2 baudrate
if dynamixel.setBaudRate(port_num2, BAUDRATE):
print("Succeeded to change the baudrate!")
else:
print("Failed to change the baudrate!")
print("Press any key to terminate...")
getch()
quit()
Secondly, the controller sets the communication BAUDRATE
at #port_num1
and #port_num2
port opened previously.
# Enable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
else:
print("Dynamixel#1 has been successfully connected")
# Enable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
else:
print("Dynamixel#2 has been successfully connected")
As mentioned in the document, above code enables each Dynamixel`s torque to set their status as being ready to move.
write1ByteTxRx()
function sends an instruction to the #DXL1_ID
and #DXL2_ID
DYNAMIXEL in PROTOCOL_VERSION
communication protocol through #port_num1
and #port_num2
port, writing 1 byte of TORQUE_ENABLE
value to ADDR_PRO_TORQUE_ENABLE
address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult()
function and getLastRxPacketError()
function get either, and then printTxRxResult()
function and printRxPacketError()
function show results on the console window if any communication error or Hardware error has been occurred.
while 1:
print("Press any key to continue! (or press ESC to quit!)")
if getch().decode() == chr(ESC_ASCII_VALUE):
break
# Write Dynamixel#1 goal position
dynamixel.write4ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index])
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Write Dynamixel#2 goal position
dynamixel.write4ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index])
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
while 1:
# Read present position
dxl1_present_position = dynamixel.read4ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_PRESENT_POSITION)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Read present position
dxl2_present_position = dynamixel.read4ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_PRESENT_POSITION)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
print("[ID:%03d] GoalPos:%03d PresPos:%03d\t[ID:%03d] GoalPos:%03d PresPos:%03d" % (DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position))
if not ((abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) or (abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD)):
break
# Change goal position
if index == 0:
index = 1
else:
index = 0
During while
loop, the controller writes and reads each Dynamixel position through packet transmission/reception(Tx/Rx).
To continue their rotation, press any key except ESC.
write4ByteTxRx()
function sends an instruction to the #DXL1_ID
and #DXL2_ID
DYNAMIXEL in PROTOCOL_VERSION
communication protocol through #port_num1
and #port_num2
ports, writing 4 byte of dxl_goal_position[index]
value to ADDR_PRO_GOAL_POSITION
address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult()
function and getLastRxPacketError()
function get either, and then printTxRxResult()
function and printRxPacketError()
function show results on the console window if any communication error or Hardware error has been occurred.
read4ByteTxRx()
function sends an instruction to the #DXL1_ID
and #DXL2_ID
DYNAMIXEL in PROTOCOL_VERSION
communication protocol through #port_num1
and #port_num2
ports, requesting 4 bytes of value in ADDR_PRO_PRESENT_POSITION
address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult()
function and getLastRxPacketError()
function get either, and then printTxRxResult()
function and printRxPacketError()
function show results on the console window if any communication error or Hardware error has been occurred.
Reading their present position will be ended when absolute value of (dxl1_goal_position[index] - dxl1_present_position)
or (dxl2_goal_position[index] - dxl2_present_position)
becomes smaller then DXL_MOVING_STATUS_THRESHOLD
.
At last, it changes their direction to the counter-wise and waits for extra key input.
# Disable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num1, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE)
if dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num1, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num1, PROTOCOL_VERSION))
# Disable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num2, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE)
if dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION) != COMM_SUCCESS:
dynamixel.printTxRxResult(PROTOCOL_VERSION, dynamixel.getLastTxRxResult(port_num2, PROTOCOL_VERSION))
elif dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION) != 0:
dynamixel.printRxPacketError(PROTOCOL_VERSION, dynamixel.getLastRxPacketError(port_num2, PROTOCOL_VERSION))
The controller frees the DYNAMIXEL to be idle.
write1ByteTxRx()
function sends an instruction to the #DXL1_ID
and #DXL2_ID
DYNAMIXEL in PROTOCOL_VERSION
communication protocol through #port_num1
and #port_num2
ports, writing 1 byte of TORQUE_DISABLE
value to ADDR_PRO_TORQUE_ENABLE
address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult()
function and getLastRxPacketError()
function get either, and then printTxRxResult()
function and printRxPacketError()
function show results on the console window if any communication error or Hardware error has been occurred.
# Close port
dynamixel.closePort(port_num1)
dynamixel.closePort(port_num2)
Finally, ports become disposed.