From 79e67cc72e1108ad910c89a07ff0ed4b861c8389 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Wed, 9 Dec 2020 14:55:10 +0100
Subject: [PATCH] Initial structure and HTML scraper
---
dynamixel/__init__.py | 0
dynamixel/channel/__init__.py | 0
dynamixel/model/2xc430_w250.py | 65 +++++++
dynamixel/model/2xl430_w250_t.py | 65 +++++++
dynamixel/model/ax_12a.py | 46 +++++
dynamixel/model/ax_12w.py | 46 +++++
dynamixel/model/ax_18a.py | 46 +++++
dynamixel/model/dx_113.py | 46 +++++
dynamixel/model/dx_116.py | 46 +++++
dynamixel/model/dx_117.py | 46 +++++
dynamixel/model/ex_106+.py | 48 +++++
dynamixel/model/h42_20_s300_r.py | 56 ++++++
dynamixel/model/h42_20_s300_r_a.py | 71 +++++++
dynamixel/model/h54_100_s500_r.py | 56 ++++++
dynamixel/model/h54_100_s500_r_a.py | 71 +++++++
dynamixel/model/h54_200_s500_r.py | 56 ++++++
dynamixel/model/h54_200_s500_r_a.py | 71 +++++++
dynamixel/model/l42_10_s300_r.py | 56 ++++++
dynamixel/model/l54_30_s400_r.py | 56 ++++++
dynamixel/model/l54_30_s500_r.py | 56 ++++++
dynamixel/model/l54_50_s290_r.py | 56 ++++++
dynamixel/model/l54_50_s500_r.py | 56 ++++++
dynamixel/model/m42_10_s260_r.py | 56 ++++++
dynamixel/model/m42_10_s260_r_a.py | 71 +++++++
dynamixel/model/m54_40_s250_r.py | 56 ++++++
dynamixel/model/m54_40_s250_r_a.py | 71 +++++++
dynamixel/model/m54_60_s250_r.py | 56 ++++++
dynamixel/model/m54_60_s250_r_a.py | 71 +++++++
dynamixel/model/mx_106t_r.py | 53 ++++++
dynamixel/model/mx_106t_r_2.0.py | 68 +++++++
dynamixel/model/mx_12w.py | 49 +++++
dynamixel/model/mx_28t_r_at_ar.py | 49 +++++
dynamixel/model/mx_28t_r_at_ar_2.0.py | 66 +++++++
dynamixel/model/mx_64t_r_at_ar.py | 52 +++++
dynamixel/model/mx_64t_r_at_ar_2.0.py | 68 +++++++
dynamixel/model/ph42_020_s300_r.py | 72 +++++++
dynamixel/model/ph54_100_s500_r.py | 72 +++++++
dynamixel/model/ph54_200_s500_r.py | 72 +++++++
dynamixel/model/pm42_010_s260_r.py | 72 +++++++
dynamixel/model/pm54_040_s250_r.py | 72 +++++++
dynamixel/model/pm54_060_s250_r.py | 72 +++++++
dynamixel/model/rx_10.py | 46 +++++
dynamixel/model/rx_24f.py | 46 +++++
dynamixel/model/rx_28.py | 46 +++++
dynamixel/model/rx_64.py | 46 +++++
dynamixel/model/xc430_w150_t.py | 65 +++++++
dynamixel/model/xc430_w240_t.py | 65 +++++++
dynamixel/model/xh430_v210_r.py | 67 +++++++
dynamixel/model/xh430_v350_r.py | 67 +++++++
dynamixel/model/xh430_w210_t_r.py | 67 +++++++
dynamixel/model/xh430_w350_t_r.py | 67 +++++++
dynamixel/model/xh540_v150_r.py | 69 +++++++
dynamixel/model/xh540_v270_r.py | 69 +++++++
dynamixel/model/xh540_w150_t_r.py | 69 +++++++
dynamixel/model/xh540_w270_t_r.py | 69 +++++++
dynamixel/model/xl430_w250_t.py | 65 +++++++
dynamixel/model/xl_320.py | 45 +++++
dynamixel/model/xm430_w210_t_r.py | 67 +++++++
dynamixel/model/xm430_w350_t_r.py | 67 +++++++
dynamixel/model/xm540_w150_t_r.py | 69 +++++++
dynamixel/model/xm540_w270_t_r.py | 69 +++++++
dynamixel/model/xw540_t140_r.py | 66 +++++++
dynamixel/model/xw540_t260_r.py | 66 +++++++
dynamixel/protocol/Protocol2.py | 2 +
dynamixel/protocol/__init__.py | 1 +
dynamixel/servo/__init__.py | 30 +++
tools/html2desc.py | 265 ++++++++++++++++++++++++++
67 files changed, 4003 insertions(+)
create mode 100644 dynamixel/__init__.py
create mode 100644 dynamixel/channel/__init__.py
create mode 100644 dynamixel/model/2xc430_w250.py
create mode 100644 dynamixel/model/2xl430_w250_t.py
create mode 100644 dynamixel/model/ax_12a.py
create mode 100644 dynamixel/model/ax_12w.py
create mode 100644 dynamixel/model/ax_18a.py
create mode 100644 dynamixel/model/dx_113.py
create mode 100644 dynamixel/model/dx_116.py
create mode 100644 dynamixel/model/dx_117.py
create mode 100644 dynamixel/model/ex_106+.py
create mode 100644 dynamixel/model/h42_20_s300_r.py
create mode 100644 dynamixel/model/h42_20_s300_r_a.py
create mode 100644 dynamixel/model/h54_100_s500_r.py
create mode 100644 dynamixel/model/h54_100_s500_r_a.py
create mode 100644 dynamixel/model/h54_200_s500_r.py
create mode 100644 dynamixel/model/h54_200_s500_r_a.py
create mode 100644 dynamixel/model/l42_10_s300_r.py
create mode 100644 dynamixel/model/l54_30_s400_r.py
create mode 100644 dynamixel/model/l54_30_s500_r.py
create mode 100644 dynamixel/model/l54_50_s290_r.py
create mode 100644 dynamixel/model/l54_50_s500_r.py
create mode 100644 dynamixel/model/m42_10_s260_r.py
create mode 100644 dynamixel/model/m42_10_s260_r_a.py
create mode 100644 dynamixel/model/m54_40_s250_r.py
create mode 100644 dynamixel/model/m54_40_s250_r_a.py
create mode 100644 dynamixel/model/m54_60_s250_r.py
create mode 100644 dynamixel/model/m54_60_s250_r_a.py
create mode 100644 dynamixel/model/mx_106t_r.py
create mode 100644 dynamixel/model/mx_106t_r_2.0.py
create mode 100644 dynamixel/model/mx_12w.py
create mode 100644 dynamixel/model/mx_28t_r_at_ar.py
create mode 100644 dynamixel/model/mx_28t_r_at_ar_2.0.py
create mode 100644 dynamixel/model/mx_64t_r_at_ar.py
create mode 100644 dynamixel/model/mx_64t_r_at_ar_2.0.py
create mode 100644 dynamixel/model/ph42_020_s300_r.py
create mode 100644 dynamixel/model/ph54_100_s500_r.py
create mode 100644 dynamixel/model/ph54_200_s500_r.py
create mode 100644 dynamixel/model/pm42_010_s260_r.py
create mode 100644 dynamixel/model/pm54_040_s250_r.py
create mode 100644 dynamixel/model/pm54_060_s250_r.py
create mode 100644 dynamixel/model/rx_10.py
create mode 100644 dynamixel/model/rx_24f.py
create mode 100644 dynamixel/model/rx_28.py
create mode 100644 dynamixel/model/rx_64.py
create mode 100644 dynamixel/model/xc430_w150_t.py
create mode 100644 dynamixel/model/xc430_w240_t.py
create mode 100644 dynamixel/model/xh430_v210_r.py
create mode 100644 dynamixel/model/xh430_v350_r.py
create mode 100644 dynamixel/model/xh430_w210_t_r.py
create mode 100644 dynamixel/model/xh430_w350_t_r.py
create mode 100644 dynamixel/model/xh540_v150_r.py
create mode 100644 dynamixel/model/xh540_v270_r.py
create mode 100644 dynamixel/model/xh540_w150_t_r.py
create mode 100644 dynamixel/model/xh540_w270_t_r.py
create mode 100644 dynamixel/model/xl430_w250_t.py
create mode 100644 dynamixel/model/xl_320.py
create mode 100644 dynamixel/model/xm430_w210_t_r.py
create mode 100644 dynamixel/model/xm430_w350_t_r.py
create mode 100644 dynamixel/model/xm540_w150_t_r.py
create mode 100644 dynamixel/model/xm540_w270_t_r.py
create mode 100644 dynamixel/model/xw540_t140_r.py
create mode 100644 dynamixel/model/xw540_t260_r.py
create mode 100644 dynamixel/protocol/Protocol2.py
create mode 100644 dynamixel/protocol/__init__.py
create mode 100644 dynamixel/servo/__init__.py
create mode 100755 tools/html2desc.py
diff --git a/dynamixel/__init__.py b/dynamixel/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/dynamixel/channel/__init__.py b/dynamixel/channel/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/dynamixel/model/2xc430_w250.py b/dynamixel/model/2xc430_w250.py
new file mode 100644
index 0000000..80b014c
--- /dev/null
+++ b/dynamixel/model/2xc430_w250.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class 2XC430_W250(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1160),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=None),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=60),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='velocity_limit', address=44, size=4, default=275),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=700),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(2XC430_W250, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/2xl430_w250_t.py b/dynamixel/model/2xl430_w250_t.py
new file mode 100644
index 0000000..3e3ed98
--- /dev/null
+++ b/dynamixel/model/2xl430_w250_t.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class 2XL430_W250_T(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1090),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=None),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=72),
+ Row(name='max_voltage_limit', address=32, size=2, default=140),
+ Row(name='min_voltage_limit', address=34, size=2, default=60),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='velocity_limit', address=44, size=4, default=250),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1800),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=2000),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=640),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(2XL430_W250_T, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ax_12a.py b/dynamixel/model/ax_12a.py
new file mode 100644
index 0000000..4572b88
--- /dev/null
+++ b/dynamixel/model/ax_12a.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class AX_12A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=12),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=1),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=70),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=140),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(AX_12A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ax_12w.py b/dynamixel/model/ax_12w.py
new file mode 100644
index 0000000..9ab069d
--- /dev/null
+++ b/dynamixel/model/ax_12w.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class AX_12W(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=300),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=1),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=70),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=140),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=4),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=4),
+ Row(name='cw_compliance_slope', address=28, size=1, default=64),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=64),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(AX_12W, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ax_18a.py b/dynamixel/model/ax_18a.py
new file mode 100644
index 0000000..ccdf5e1
--- /dev/null
+++ b/dynamixel/model/ax_18a.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class AX_18A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=18),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=1),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=75),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=140),
+ Row(name='max_torque', address=14, size=2, default=983),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(AX_18A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/dx_113.py b/dynamixel/model/dx_113.py
new file mode 100644
index 0000000..ed75651
--- /dev/null
+++ b/dynamixel/model/dx_113.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class DX_113(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=113),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=85),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=0),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=0),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(DX_113, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/dx_116.py b/dynamixel/model/dx_116.py
new file mode 100644
index 0000000..8aedc02
--- /dev/null
+++ b/dynamixel/model/dx_116.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class DX_116(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=116),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=85),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=0),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=0),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(DX_116, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/dx_117.py b/dynamixel/model/dx_117.py
new file mode 100644
index 0000000..a8c09e2
--- /dev/null
+++ b/dynamixel/model/dx_117.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class DX_117(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=117),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(DX_117, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ex_106+.py b/dynamixel/model/ex_106+.py
new file mode 100644
index 0000000..5fa6e3d
--- /dev/null
+++ b/dynamixel/model/ex_106+.py
@@ -0,0 +1,48 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class EX_106+(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=107),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=4095),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=240),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=0),
+ Row(name='sensed_current', address=56, size=2, default=None)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(EX_106+, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h42_20_s300_r.py b/dynamixel/model/h42_20_s300_r.py
new file mode 100644
index 0000000..8fdb2d4
--- /dev/null
+++ b/dynamixel/model/h42_20_s300_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H42_20_S300_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=51200),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=255),
+ Row(name='torque_limit', address=30, size=2, default=465),
+ Row(name='velocity_limit', address=32, size=4, default=10300),
+ Row(name='max_position_limit', address=36, size=4, default=151875),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=40),
+ Row(name='velocity_p_gain', address=588, size=2, default=440),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H42_20_S300_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h42_20_s300_r_a.py b/dynamixel/model/h42_20_s300_r_a.py
new file mode 100644
index 0000000..471fabb
--- /dev/null
+++ b/dynamixel/model/h42_20_s300_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H42_20_S300_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=51201),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=4500),
+ Row(name='acceleration_limit', address=40, size=4, default=10765),
+ Row(name='velocity_limit', address=44, size=4, default=2920),
+ Row(name='max_position_limit', address=48, size=4, default=303454),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H42_20_S300_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h54_100_s500_r.py b/dynamixel/model/h54_100_s500_r.py
new file mode 100644
index 0000000..4870760
--- /dev/null
+++ b/dynamixel/model/h54_100_s500_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H54_100_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=53768),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=310),
+ Row(name='velocity_limit', address=32, size=4, default=17000),
+ Row(name='max_position_limit', address=36, size=4, default=250961),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=256),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H54_100_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h54_100_s500_r_a.py b/dynamixel/model/h54_100_s500_r_a.py
new file mode 100644
index 0000000..fdf100e
--- /dev/null
+++ b/dynamixel/model/h54_100_s500_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H54_100_S500_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=53769),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=50),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=15900),
+ Row(name='acceleration_limit', address=40, size=4, default=10639),
+ Row(name='velocity_limit', address=44, size=4, default=2920),
+ Row(name='max_position_limit', address=48, size=4, default=501433),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H54_100_S500_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h54_200_s500_r.py b/dynamixel/model/h54_200_s500_r.py
new file mode 100644
index 0000000..b8fd5e2
--- /dev/null
+++ b/dynamixel/model/h54_200_s500_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H54_200_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=54024),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=620),
+ Row(name='velocity_limit', address=32, size=4, default=17000),
+ Row(name='max_position_limit', address=36, size=4, default=250961),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=14),
+ Row(name='velocity_p_gain', address=588, size=2, default=399),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H54_200_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/h54_200_s500_r_a.py b/dynamixel/model/h54_200_s500_r_a.py
new file mode 100644
index 0000000..d42186b
--- /dev/null
+++ b/dynamixel/model/h54_200_s500_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class H54_200_S500_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=54025),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=22740),
+ Row(name='acceleration_limit', address=40, size=4, default=9982),
+ Row(name='velocity_limit', address=44, size=4, default=2900),
+ Row(name='max_position_limit', address=48, size=4, default=501433),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(H54_200_S500_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/l42_10_s300_r.py b/dynamixel/model/l42_10_s300_r.py
new file mode 100644
index 0000000..e5b1888
--- /dev/null
+++ b/dynamixel/model/l42_10_s300_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class L42_10_S300_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=35072),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=10),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=987),
+ Row(name='velocity_limit', address=32, size=4, default=None),
+ Row(name='max_position_limit', address=36, size=4, default=2048),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=30),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=40),
+ Row(name='velocity_p_gain', address=588, size=2, default=440),
+ Row(name='position_p_gain', address=594, size=2, default=64),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(L42_10_S300_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/l54_30_s400_r.py b/dynamixel/model/l54_30_s400_r.py
new file mode 100644
index 0000000..c6a0355
--- /dev/null
+++ b/dynamixel/model/l54_30_s400_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class L54_30_S400_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=37928),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=100),
+ Row(name='velocity_limit', address=32, size=4, default=9000),
+ Row(name='max_position_limit', address=36, size=4, default=144197),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=412),
+ Row(name='position_p_gain', address=594, size=2, default=200),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(L54_30_S400_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/l54_30_s500_r.py b/dynamixel/model/l54_30_s500_r.py
new file mode 100644
index 0000000..5ad457b
--- /dev/null
+++ b/dynamixel/model/l54_30_s500_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class L54_30_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=37896),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=100),
+ Row(name='velocity_limit', address=32, size=4, default=9000),
+ Row(name='max_position_limit', address=36, size=4, default=180692),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=256),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(L54_30_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/l54_50_s290_r.py b/dynamixel/model/l54_50_s290_r.py
new file mode 100644
index 0000000..0d301b4
--- /dev/null
+++ b/dynamixel/model/l54_50_s290_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class L54_50_S290_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=38176),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=120),
+ Row(name='velocity_limit', address=32, size=4, default=8000),
+ Row(name='max_position_limit', address=36, size=4, default=103846),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=412),
+ Row(name='position_p_gain', address=594, size=2, default=250),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(L54_50_S290_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/l54_50_s500_r.py b/dynamixel/model/l54_50_s500_r.py
new file mode 100644
index 0000000..c047b61
--- /dev/null
+++ b/dynamixel/model/l54_50_s500_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class L54_50_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=38152),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=120),
+ Row(name='velocity_limit', address=32, size=4, default=8000),
+ Row(name='max_position_limit', address=36, size=4, default=180692),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=256),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(L54_50_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m42_10_s260_r.py b/dynamixel/model/m42_10_s260_r.py
new file mode 100644
index 0000000..7b73819
--- /dev/null
+++ b/dynamixel/model/m42_10_s260_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M42_10_S260_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=43288),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=300),
+ Row(name='velocity_limit', address=32, size=4, default=8000),
+ Row(name='max_position_limit', address=36, size=4, default=131593),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=72),
+ Row(name='velocity_p_gain', address=588, size=2, default=520),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M42_10_S260_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m42_10_s260_r_a.py b/dynamixel/model/m42_10_s260_r_a.py
new file mode 100644
index 0000000..a867531
--- /dev/null
+++ b/dynamixel/model/m42_10_s260_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M42_10_S260_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=43289),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=300),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=1461),
+ Row(name='acceleration_limit', address=40, size=4, default=10867),
+ Row(name='velocity_limit', address=44, size=4, default=2600),
+ Row(name='max_position_limit', address=48, size=4, default=262931),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M42_10_S260_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m54_40_s250_r.py b/dynamixel/model/m54_40_s250_r.py
new file mode 100644
index 0000000..906479c
--- /dev/null
+++ b/dynamixel/model/m54_40_s250_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M54_40_S250_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=46096),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=120),
+ Row(name='velocity_limit', address=32, size=4, default=8000),
+ Row(name='max_position_limit', address=36, size=4, default=125708),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=256),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M54_40_S250_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m54_40_s250_r_a.py b/dynamixel/model/m54_40_s250_r_a.py
new file mode 100644
index 0000000..a8d8702
--- /dev/null
+++ b/dynamixel/model/m54_40_s250_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M54_40_S250_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=46097),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=4470),
+ Row(name='acceleration_limit', address=40, size=4, default=11037),
+ Row(name='velocity_limit', address=44, size=4, default=2840),
+ Row(name='max_position_limit', address=48, size=4, default=251173),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M54_40_S250_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m54_60_s250_r.py b/dynamixel/model/m54_60_s250_r.py
new file mode 100644
index 0000000..6a3136f
--- /dev/null
+++ b/dynamixel/model/m54_60_s250_r.py
@@ -0,0 +1,56 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M54_60_S250_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=46352),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='homing_offset', address=13, size=4, default=0),
+ Row(name='moving_threshold', address=17, size=4, default=50),
+ Row(name='temperature_limit', address=21, size=1, default=80),
+ Row(name='max_voltage_limit', address=22, size=2, default=400),
+ Row(name='min_voltage_limit', address=24, size=2, default=150),
+ Row(name='acceleration_limit', address=26, size=4, default=None),
+ Row(name='torque_limit', address=30, size=2, default=180),
+ Row(name='velocity_limit', address=32, size=4, default=8000),
+ Row(name='max_position_limit', address=36, size=4, default=125708),
+ Row(name='min_position_limit', address=40, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ Row(name='shutdown', address=48, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=562, size=1, default=0),
+ Row(name='led_red', address=563, size=1, default=0),
+ Row(name='led_green', address=564, size=1, default=0),
+ Row(name='led_blue', address=565, size=1, default=0),
+ Row(name='velocity_i_gain', address=586, size=2, default=16),
+ Row(name='velocity_p_gain', address=588, size=2, default=256),
+ Row(name='position_p_gain', address=594, size=2, default=32),
+ Row(name='goal_position', address=596, size=4, default=None),
+ Row(name='goal_velocity', address=600, size=4, default=0),
+ Row(name='goal_torque', address=604, size=2, default=0),
+ Row(name='goal_acceleration', address=606, size=4, default=0),
+ Row(name='moving', address=610, size=1, default=None),
+ Row(name='present_position', address=611, size=4, default=None),
+ Row(name='present_velocity', address=615, size=4, default=None),
+ Row(name='present_current', address=621, size=2, default=None),
+ Row(name='present_input_voltage', address=623, size=2, default=None),
+ Row(name='present_temperature', address=625, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ Row(name='registered_instruction', address=890, size=1, default=0),
+ Row(name='status_return_level', address=891, size=1, default=2),
+ Row(name='hardware_error_status', address=892, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M54_60_S250_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/m54_60_s250_r_a.py b/dynamixel/model/m54_60_s250_r_a.py
new file mode 100644
index 0000000..4b837af
--- /dev/null
+++ b/dynamixel/model/m54_60_s250_r_a.py
@@ -0,0 +1,71 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class M54_60_S250_R_A(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=46353),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=50),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=7980),
+ Row(name='acceleration_limit', address=40, size=4, default=11145),
+ Row(name='velocity_limit', address=44, size=4, default=2830),
+ Row(name='max_position_limit', address=48, size=4, default=251173),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(M54_60_S250_R_A, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_106t_r.py b/dynamixel/model/mx_106t_r.py
new file mode 100644
index 0000000..93c1c1f
--- /dev/null
+++ b/dynamixel/model/mx_106t_r.py
@@ -0,0 +1,53 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_106T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=320),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=4095),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=160),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36),
+ Row(name='multi_turn_offset', address=20, size=2, default=0),
+ Row(name='resolution_divider', address=22, size=1, default=1)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='d_gain', address=26, size=1, default=0),
+ Row(name='i_gain', address=27, size=1, default=0),
+ Row(name='p_gain', address=28, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=0),
+ Row(name='realtime_tick', address=50, size=2, default=0),
+ Row(name='current', address=68, size=2, default=0),
+ Row(name='torque_ctrl_mode_enable', address=70, size=1, default=0),
+ Row(name='goal_torque', address=71, size=2, default=0),
+ Row(name='goal_acceleration', address=73, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(MX_106T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_106t_r_2.0.py b/dynamixel/model/mx_106t_r_2.0.py
new file mode 100644
index 0000000..fccc138
--- /dev/null
+++ b/dynamixel/model/mx_106t_r_2.0.py
@@ -0,0 +1,68 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_106T_R_2.0(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=321),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='acceleration_limit', address=40, size=4, default=32767),
+ Row(name='velocity_limit', address=44, size=4, default=210),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=850),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(MX_106T_R_2.0, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_12w.py b/dynamixel/model/mx_12w.py
new file mode 100644
index 0000000..b455db0
--- /dev/null
+++ b/dynamixel/model/mx_12w.py
@@ -0,0 +1,49 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_12W(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=360),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=1),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=4095),
+ Row(name='temperature_limit', address=11, size=1, default=70),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=160),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36),
+ Row(name='multi_turn_offset', address=20, size=2, default=0),
+ Row(name='resolution_divider', address=22, size=1, default=1)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='d_gain', address=26, size=1, default=8),
+ Row(name='i_gain', address=27, size=1, default=0),
+ Row(name='p_gain', address=28, size=1, default=8),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32),
+ Row(name='realtime_tick', address=50, size=2, default=0),
+ Row(name='goal_acceleration', address=73, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(MX_12W, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_28t_r_at_ar.py b/dynamixel/model/mx_28t_r_at_ar.py
new file mode 100644
index 0000000..cba2d3a
--- /dev/null
+++ b/dynamixel/model/mx_28t_r_at_ar.py
@@ -0,0 +1,49 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_28T_R_AT_AR(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=29),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=4095),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=160),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36),
+ Row(name='multi_turn_offset', address=20, size=2, default=0),
+ Row(name='resolution_divider', address=22, size=1, default=1)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='d_gain', address=26, size=1, default=0),
+ Row(name='i_gain', address=27, size=1, default=0),
+ Row(name='p_gain', address=28, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=0),
+ Row(name='realtime_tick', address=50, size=2, default=0),
+ Row(name='goal_acceleration', address=73, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(MX_28T_R_AT_AR, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_28t_r_at_ar_2.0.py b/dynamixel/model/mx_28t_r_at_ar_2.0.py
new file mode 100644
index 0000000..6ceaaa6
--- /dev/null
+++ b/dynamixel/model/mx_28t_r_at_ar_2.0.py
@@ -0,0 +1,66 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_28T_R_AT_AR_2.0(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=30),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='acceleration_limit', address=40, size=4, default=32767),
+ Row(name='velocity_limit', address=44, size=4, default=230),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=850),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(MX_28T_R_AT_AR_2.0, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_64t_r_at_ar.py b/dynamixel/model/mx_64t_r_at_ar.py
new file mode 100644
index 0000000..68b8d2e
--- /dev/null
+++ b/dynamixel/model/mx_64t_r_at_ar.py
@@ -0,0 +1,52 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_64T_R_AT_AR(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=310),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=4095),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=240),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36),
+ Row(name='multi_turn_offset', address=20, size=2, default=0),
+ Row(name='resolution_divider', address=22, size=1, default=1)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='d_gain', address=26, size=1, default=0),
+ Row(name='i_gain', address=27, size=1, default=0),
+ Row(name='p_gain', address=28, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=0),
+ Row(name='realtime_tick', address=50, size=2, default=0),
+ Row(name='current', address=68, size=2, default=0),
+ Row(name='torque_ctrl_mode_enable', address=70, size=1, default=0),
+ Row(name='goal_torque', address=71, size=2, default=0),
+ Row(name='goal_acceleration', address=73, size=1, default=0)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(MX_64T_R_AT_AR, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/mx_64t_r_at_ar_2.0.py b/dynamixel/model/mx_64t_r_at_ar_2.0.py
new file mode 100644
index 0000000..6115df3
--- /dev/null
+++ b/dynamixel/model/mx_64t_r_at_ar_2.0.py
@@ -0,0 +1,68 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class MX_64T_R_AT_AR_2.0(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=311),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=1941),
+ Row(name='acceleration_limit', address=40, size=4, default=32767),
+ Row(name='velocity_limit', address=44, size=4, default=285),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=850),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(MX_64T_R_AT_AR_2.0, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ph42_020_s300_r.py b/dynamixel/model/ph42_020_s300_r.py
new file mode 100644
index 0000000..32b2269
--- /dev/null
+++ b/dynamixel/model/ph42_020_s300_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PH42_020_S300_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2000),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=4500),
+ Row(name='acceleration_limit', address=40, size=4, default=10765),
+ Row(name='velocity_limit', address=44, size=4, default=2920),
+ Row(name='max_position_limit', address=48, size=4, default=303454),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PH42_020_S300_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ph54_100_s500_r.py b/dynamixel/model/ph54_100_s500_r.py
new file mode 100644
index 0000000..9e80eec
--- /dev/null
+++ b/dynamixel/model/ph54_100_s500_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PH54_100_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2010),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=15900),
+ Row(name='acceleration_limit', address=40, size=4, default=10639),
+ Row(name='velocity_limit', address=44, size=4, default=2920),
+ Row(name='max_position_limit', address=48, size=4, default=501433),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PH54_100_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/ph54_200_s500_r.py b/dynamixel/model/ph54_200_s500_r.py
new file mode 100644
index 0000000..d1fe857
--- /dev/null
+++ b/dynamixel/model/ph54_200_s500_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PH54_200_S500_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2020),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=22740),
+ Row(name='acceleration_limit', address=40, size=4, default=9982),
+ Row(name='velocity_limit', address=44, size=4, default=2900),
+ Row(name='max_position_limit', address=48, size=4, default=501433),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PH54_200_S500_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/pm42_010_s260_r.py b/dynamixel/model/pm42_010_s260_r.py
new file mode 100644
index 0000000..e2bc049
--- /dev/null
+++ b/dynamixel/model/pm42_010_s260_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PM42_010_S260_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2100),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=1461),
+ Row(name='acceleration_limit', address=40, size=4, default=10867),
+ Row(name='velocity_limit', address=44, size=4, default=2600),
+ Row(name='max_position_limit', address=48, size=4, default=262931),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PM42_010_S260_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/pm54_040_s250_r.py b/dynamixel/model/pm54_040_s250_r.py
new file mode 100644
index 0000000..8289ef9
--- /dev/null
+++ b/dynamixel/model/pm54_040_s250_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PM54_040_S250_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2110),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='sencondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=4470),
+ Row(name='acceleration_limit', address=40, size=4, default=11037),
+ Row(name='velocity_limit', address=44, size=4, default=2840),
+ Row(name='max_position_limit', address=48, size=4, default=251173),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PM54_040_S250_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/pm54_060_s250_r.py b/dynamixel/model/pm54_060_s250_r.py
new file mode 100644
index 0000000..ef29728
--- /dev/null
+++ b/dynamixel/model/pm54_060_s250_r.py
@@ -0,0 +1,72 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class PM54_060_S250_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=2120),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=350),
+ Row(name='min_voltage_limit', address=34, size=2, default=150),
+ Row(name='pwm_limit', address=36, size=2, default=2009),
+ Row(name='current_limit', address=38, size=2, default=7980),
+ Row(name='acceleration_limit', address=40, size=4, default=11145),
+ Row(name='velocity_limit', address=44, size=4, default=2830),
+ Row(name='max_position_limit', address=48, size=4, default=251173),
+ Row(name='min_position_limit', address=52, size=4, default=None),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ Row(name='shutdown', address=63, size=1, default=58),
+ IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=512, size=1, default=0),
+ Row(name='led_red', address=513, size=1, default=0),
+ Row(name='led_green', address=514, size=1, default=0),
+ Row(name='led_blue', address=515, size=1, default=0),
+ Row(name='status_return_level', address=516, size=1, default=2),
+ Row(name='registered_instruction', address=517, size=1, default=0),
+ Row(name='hardware_error_status', address=518, size=1, default=0),
+ Row(name='velocity_i_gain', address=524, size=2, default=None),
+ Row(name='velocity_p_gain', address=526, size=2, default=None),
+ Row(name='position_d_gain', address=528, size=2, default=None),
+ Row(name='position_i_gain', address=530, size=2, default=None),
+ Row(name='position_p_gain', address=532, size=2, default=None),
+ Row(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ Row(name='feedforward_1st_gain', address=538, size=2, default=None),
+ Row(name='bus_watchdog', address=546, size=1, default=None),
+ Row(name='goal_pwm', address=548, size=2, default=None),
+ Row(name='goal_current', address=550, size=2, default=None),
+ Row(name='goal_velocity', address=552, size=4, default=None),
+ Row(name='profile_acceleration', address=556, size=4, default=None),
+ Row(name='profile_velocity', address=560, size=4, default=None),
+ Row(name='goal_position', address=564, size=4, default=None),
+ Row(name='realtime_tick', address=568, size=2, default=None),
+ Row(name='moving', address=570, size=1, default=None),
+ Row(name='moving_status', address=571, size=1, default=None),
+ Row(name='present_pwm', address=572, size=2, default=None),
+ Row(name='present_current', address=574, size=2, default=None),
+ Row(name='present_velocity', address=576, size=4, default=None),
+ Row(name='present_position', address=580, size=4, default=None),
+ Row(name='velocity_trajectory', address=584, size=4, default=None),
+ Row(name='position_trajectory', address=588, size=4, default=None),
+ Row(name='present_input_voltage', address=592, size=2, default=None),
+ Row(name='present_temperature', address=594, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(PM54_060_S250_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/rx_10.py b/dynamixel/model/rx_10.py
new file mode 100644
index 0000000..2d3372b
--- /dev/null
+++ b/dynamixel/model/rx_10.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class RX_10(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=10),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(RX_10, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/rx_24f.py b/dynamixel/model/rx_24f.py
new file mode 100644
index 0000000..40b2602
--- /dev/null
+++ b/dynamixel/model/rx_24f.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class RX_24F(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=24),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(RX_24F, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/rx_28.py b/dynamixel/model/rx_28.py
new file mode 100644
index 0000000..71fbb7d
--- /dev/null
+++ b/dynamixel/model/rx_28.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class RX_28(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=28),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(RX_28, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/rx_64.py b/dynamixel/model/rx_64.py
new file mode 100644
index 0000000..88dbce4
--- /dev/null
+++ b/dynamixel/model/rx_64.py
@@ -0,0 +1,46 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class RX_64(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=64),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=34),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='temperature_limit', address=11, size=1, default=80),
+ Row(name='min_voltage_limit', address=12, size=1, default=60),
+ Row(name='max_voltage_limit', address=13, size=1, default=190),
+ Row(name='max_torque', address=14, size=2, default=1023),
+ Row(name='status_return_level', address=16, size=1, default=2),
+ Row(name='alarm_led', address=17, size=1, default=36),
+ Row(name='shutdown', address=18, size=1, default=36)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='cw_compliance_margin', address=26, size=1, default=1),
+ Row(name='ccw_compliance_margin', address=27, size=1, default=1),
+ Row(name='cw_compliance_slope', address=28, size=1, default=32),
+ Row(name='ccw_compliance_slope', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=34, size=2, default=None),
+ Row(name='present_position', address=36, size=2, default=None),
+ Row(name='present_speed', address=38, size=2, default=None),
+ Row(name='present_load', address=40, size=2, default=None),
+ Row(name='present_voltage', address=42, size=1, default=None),
+ Row(name='present_temperature', address=43, size=1, default=None),
+ Row(name='registered', address=44, size=1, default=0),
+ Row(name='moving', address=46, size=1, default=0),
+ Row(name='lock', address=47, size=1, default=0),
+ Row(name='punch', address=48, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol1
+
+ def __init__(self, id):
+ super(RX_64, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xc430_w150_t.py b/dynamixel/model/xc430_w150_t.py
new file mode 100644
index 0000000..4c997a3
--- /dev/null
+++ b/dynamixel/model/xc430_w150_t.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XC430_W150_T(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1070),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=20),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=60),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='velocity_limit', address=44, size=4, default=460),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=460),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XC430_W150_T, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xc430_w240_t.py b/dynamixel/model/xc430_w240_t.py
new file mode 100644
index 0000000..ca90954
--- /dev/null
+++ b/dynamixel/model/xc430_w240_t.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XC430_W240_T(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1080),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=60),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='velocity_limit', address=44, size=4, default=306),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=700),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XC430_W240_T, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh430_v210_r.py b/dynamixel/model/xh430_v210_r.py
new file mode 100644
index 0000000..7a4c3ef
--- /dev/null
+++ b/dynamixel/model/xh430_v210_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH430_V210_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1050),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=300),
+ Row(name='min_voltage_limit', address=34, size=2, default=110),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=689),
+ Row(name='velocity_limit', address=44, size=4, default=230),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH430_V210_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh430_v350_r.py b/dynamixel/model/xh430_v350_r.py
new file mode 100644
index 0000000..db5ae3b
--- /dev/null
+++ b/dynamixel/model/xh430_v350_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH430_V350_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1040),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=300),
+ Row(name='min_voltage_limit', address=34, size=2, default=110),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=689),
+ Row(name='velocity_limit', address=44, size=4, default=135),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH430_V350_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh430_w210_t_r.py b/dynamixel/model/xh430_w210_t_r.py
new file mode 100644
index 0000000..3bd9ae2
--- /dev/null
+++ b/dynamixel/model/xh430_w210_t_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH430_W210_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1010),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=648),
+ Row(name='velocity_limit', address=44, size=4, default=210),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=900),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH430_W210_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh430_w350_t_r.py b/dynamixel/model/xh430_w350_t_r.py
new file mode 100644
index 0000000..3b28cb9
--- /dev/null
+++ b/dynamixel/model/xh430_w350_t_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH430_W350_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1000),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=648),
+ Row(name='velocity_limit', address=44, size=4, default=130),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=900),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH430_W350_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh540_v150_r.py b/dynamixel/model/xh540_v150_r.py
new file mode 100644
index 0000000..8aacad0
--- /dev/null
+++ b/dynamixel/model/xh540_v150_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH540_V150_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1150),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=300),
+ Row(name='min_voltage_limit', address=34, size=2, default=110),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=230),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH540_V150_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh540_v270_r.py b/dynamixel/model/xh540_v270_r.py
new file mode 100644
index 0000000..d54166c
--- /dev/null
+++ b/dynamixel/model/xh540_v270_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH540_V270_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1140),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=300),
+ Row(name='min_voltage_limit', address=34, size=2, default=110),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=128),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH540_V270_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh540_w150_t_r.py b/dynamixel/model/xh540_w150_t_r.py
new file mode 100644
index 0000000..68447a1
--- /dev/null
+++ b/dynamixel/model/xh540_w150_t_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH540_W150_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1110),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=300),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH540_W150_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xh540_w270_t_r.py b/dynamixel/model/xh540_w270_t_r.py
new file mode 100644
index 0000000..5cb5457
--- /dev/null
+++ b/dynamixel/model/xh540_w270_t_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XH540_W270_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1100),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=167),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XH540_W270_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xl430_w250_t.py b/dynamixel/model/xl430_w250_t.py
new file mode 100644
index 0000000..66a0e40
--- /dev/null
+++ b/dynamixel/model/xl430_w250_t.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XL430_W250_T(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1060),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=72),
+ Row(name='max_voltage_limit', address=32, size=2, default=140),
+ Row(name='min_voltage_limit', address=34, size=2, default=60),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='velocity_limit', address=44, size=4, default=265),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1000),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=4000),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=640),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_load', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XL430_W250_T, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xl_320.py b/dynamixel/model/xl_320.py
new file mode 100644
index 0000000..fc3e80f
--- /dev/null
+++ b/dynamixel/model/xl_320.py
@@ -0,0 +1,45 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XL_320(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=350),
+ Row(name='firmware_version', address=2, size=1, default=None),
+ Row(name='id', address=3, size=1, default=1),
+ Row(name='baud_rate', address=4, size=1, default=3),
+ Row(name='return_delay_time', address=5, size=1, default=250),
+ Row(name='cw_angle_limit', address=6, size=2, default=0),
+ Row(name='ccw_angle_limit', address=8, size=2, default=1023),
+ Row(name='control_mode', address=11, size=1, default=2),
+ Row(name='temperature_limit', address=12, size=1, default=65),
+ Row(name='min_voltage_limit', address=13, size=1, default=60),
+ Row(name='max_voltage_limit', address=14, size=1, default=90),
+ Row(name='max_torque', address=15, size=2, default=1023),
+ Row(name='status_return_level', address=17, size=1, default=2),
+ Row(name='shutdown', address=18, size=1, default=3)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=24, size=1, default=0),
+ Row(name='led', address=25, size=1, default=0),
+ Row(name='d_gain', address=27, size=1, default=0),
+ Row(name='i_gain', address=28, size=1, default=0),
+ Row(name='p_gain', address=29, size=1, default=32),
+ Row(name='goal_position', address=30, size=2, default=None),
+ Row(name='moving_speed', address=32, size=2, default=None),
+ Row(name='torque_limit', address=35, size=2, default=None),
+ Row(name='present_position', address=37, size=2, default=None),
+ Row(name='present_speed', address=39, size=2, default=None),
+ Row(name='present_load', address=41, size=2, default=None),
+ Row(name='present_voltage', address=45, size=1, default=None),
+ Row(name='present_temperature', address=46, size=1, default=None),
+ Row(name='registered', address=47, size=1, default=0),
+ Row(name='moving', address=49, size=1, default=0),
+ Row(name='hardware_error_status', address=50, size=1, default=0),
+ Row(name='punch', address=51, size=2, default=32)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XL_320, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xm430_w210_t_r.py b/dynamixel/model/xm430_w210_t_r.py
new file mode 100644
index 0000000..8fd374f
--- /dev/null
+++ b/dynamixel/model/xm430_w210_t_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XM430_W210_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1030),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=1193),
+ Row(name='velocity_limit', address=44, size=4, default=330),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XM430_W210_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xm430_w350_t_r.py b/dynamixel/model/xm430_w350_t_r.py
new file mode 100644
index 0000000..9c16b6c
--- /dev/null
+++ b/dynamixel/model/xm430_w350_t_r.py
@@ -0,0 +1,67 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XM430_W350_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1020),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=1193),
+ Row(name='velocity_limit', address=44, size=4, default=200),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XM430_W350_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xm540_w150_t_r.py b/dynamixel/model/xm540_w150_t_r.py
new file mode 100644
index 0000000..668d68f
--- /dev/null
+++ b/dynamixel/model/xm540_w150_t_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XM540_W150_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1130),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=230),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XM540_W150_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xm540_w270_t_r.py b/dynamixel/model/xm540_w270_t_r.py
new file mode 100644
index 0000000..4247363
--- /dev/null
+++ b/dynamixel/model/xm540_w270_t_r.py
@@ -0,0 +1,69 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XM540_W270_T_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1120),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=128),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='led', address=65, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XM540_W270_T_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xw540_t140_r.py b/dynamixel/model/xw540_t140_r.py
new file mode 100644
index 0000000..b54630f
--- /dev/null
+++ b/dynamixel/model/xw540_t140_r.py
@@ -0,0 +1,66 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XW540_T140_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1180),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=304),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XW540_T140_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/model/xw540_t260_r.py b/dynamixel/model/xw540_t260_r.py
new file mode 100644
index 0000000..3dfb867
--- /dev/null
+++ b/dynamixel/model/xw540_t260_r.py
@@ -0,0 +1,66 @@
+
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class XW540_T260_R(Servo):
+ EEPROM = [
+ Row(name='model_number', address=0, size=2, default=1170),
+ Row(name='model_information', address=2, size=4, default=None),
+ Row(name='firmware_version', address=6, size=1, default=None),
+ Row(name='id', address=7, size=1, default=1),
+ Row(name='baud_rate', address=8, size=1, default=1),
+ Row(name='return_delay_time', address=9, size=1, default=250),
+ Row(name='drive_mode', address=10, size=1, default=0),
+ Row(name='operating_mode', address=11, size=1, default=3),
+ Row(name='secondary_id', address=12, size=1, default=255),
+ Row(name='protocol_type', address=13, size=1, default=2),
+ Row(name='homing_offset', address=20, size=4, default=0),
+ Row(name='moving_threshold', address=24, size=4, default=10),
+ Row(name='temperature_limit', address=31, size=1, default=80),
+ Row(name='max_voltage_limit', address=32, size=2, default=160),
+ Row(name='min_voltage_limit', address=34, size=2, default=95),
+ Row(name='pwm_limit', address=36, size=2, default=885),
+ Row(name='current_limit', address=38, size=2, default=2047),
+ Row(name='velocity_limit', address=44, size=4, default=167),
+ Row(name='max_position_limit', address=48, size=4, default=4095),
+ Row(name='min_position_limit', address=52, size=4, default=0),
+ Row(name='shutdown', address=63, size=1, default=52)
+ ]
+ RAM = [
+ Row(name='torque_enable', address=64, size=1, default=0),
+ Row(name='status_return_level', address=68, size=1, default=2),
+ Row(name='registered_instruction', address=69, size=1, default=0),
+ Row(name='hardware_error_status', address=70, size=1, default=0),
+ Row(name='velocity_i_gain', address=76, size=2, default=1920),
+ Row(name='velocity_p_gain', address=78, size=2, default=100),
+ Row(name='position_d_gain', address=80, size=2, default=0),
+ Row(name='position_i_gain', address=82, size=2, default=0),
+ Row(name='position_p_gain', address=84, size=2, default=800),
+ Row(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ Row(name='feedforward_1st_gain', address=90, size=2, default=0),
+ Row(name='bus_watchdog', address=98, size=1, default=0),
+ Row(name='goal_pwm', address=100, size=2, default=None),
+ Row(name='goal_current', address=102, size=2, default=None),
+ Row(name='goal_velocity', address=104, size=4, default=None),
+ Row(name='profile_acceleration', address=108, size=4, default=0),
+ Row(name='profile_velocity', address=112, size=4, default=0),
+ Row(name='goal_position', address=116, size=4, default=None),
+ Row(name='realtime_tick', address=120, size=2, default=None),
+ Row(name='moving', address=122, size=1, default=0),
+ Row(name='moving_status', address=123, size=1, default=0),
+ Row(name='present_pwm', address=124, size=2, default=None),
+ Row(name='present_current', address=126, size=2, default=None),
+ Row(name='present_velocity', address=128, size=4, default=None),
+ Row(name='present_position', address=132, size=4, default=None),
+ Row(name='velocity_trajectory', address=136, size=4, default=None),
+ Row(name='position_trajectory', address=140, size=4, default=None),
+ Row(name='present_input_voltage', address=144, size=2, default=None),
+ Row(name='present_temperature', address=146, size=1, default=None),
+ IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ ]
+ PROTOCOL = dynamixel.protocol.Protocol2
+
+ def __init__(self, id):
+ super(XW540_T260_R, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
diff --git a/dynamixel/protocol/Protocol2.py b/dynamixel/protocol/Protocol2.py
new file mode 100644
index 0000000..e4fbcd3
--- /dev/null
+++ b/dynamixel/protocol/Protocol2.py
@@ -0,0 +1,2 @@
+class Protocol2:
+ pass
diff --git a/dynamixel/protocol/__init__.py b/dynamixel/protocol/__init__.py
new file mode 100644
index 0000000..27f95fa
--- /dev/null
+++ b/dynamixel/protocol/__init__.py
@@ -0,0 +1 @@
+from . import Protocol2
diff --git a/dynamixel/servo/__init__.py b/dynamixel/servo/__init__.py
new file mode 100644
index 0000000..ca0b806
--- /dev/null
+++ b/dynamixel/servo/__init__.py
@@ -0,0 +1,30 @@
+class Servo:
+ def __init__(self, id, eeprom, ram, protocol):
+ self._id = id
+ self._control_table = dict(
+ [ (r.name, r) for r in eeprom ] +
+ [ (r.name, r) for r in ram ]
+ )
+ self.protocol = protocol
+ pass
+
+ pass
+
+class Row:
+
+ def __init__(self, name, address, size, default):
+ self.name = name
+ self.address = address
+ self.size = size
+ self.default = default
+ pass
+
+ pass
+
+class IndirectRow:
+ def __init__(self, name, addresses, size):
+ self.name = name
+ self.addresses = addresses
+ self.size = size
+
+ pass
diff --git a/tools/html2desc.py b/tools/html2desc.py
new file mode 100755
index 0000000..c9afa6b
--- /dev/null
+++ b/tools/html2desc.py
@@ -0,0 +1,265 @@
+#!/usr/bin/python3
+
+import sys
+import lxml.etree
+import re
+
+def extract_row(tr, name_to_index):
+ def text(e, report_error):
+ # Transform HTML to text
+ result = ''
+ if e.tag == 'br':
+ result += '\n'
+ pass
+ elif e.tag == 'sup':
+ result += '^'
+ result += e.text or ''
+ pass
+ else:
+ result += e.text or ''
+ pass
+ if len(e):
+ result += ''.join([ text(e1, report_error) for e1 in e ])
+ pass
+ result += e.tail or ''
+ return result
+
+ def get(key, report_error=True):
+ try:
+ index = name_to_index[key]
+ return text(tr[index], report_error).rstrip()
+ except KeyError as e:
+ if report_error:
+ print(e, name_to_index)
+ raise
+ return None
+ pass
+
+ name = get('Data Name')
+ address = get('Address')
+ size = get('Size')
+ access = get('Access')
+ default = (get('Initial', False) or get('Default')).replace(',', '')
+ ranges = get('Range', False)
+ if ranges == None:
+ # Try with min ~ max
+ rmin = get('Min', False)
+ rmax = get('Max', False)
+ if not rmin in [ None, '-'] and not rmax in [ None, '-' ]:
+ ranges = "%s ~ %s" % (rmin, rmax)
+ pass
+ pass
+ unit = get('Unit', False)
+ return name, address, size, access, default, ranges, unit
+
+
+class Row:
+
+ def __init__(self, name, index, address, size, access, default,
+ ranges, unit):
+ self.name = name
+ self.index = int(index) if index else None
+ self.address = address
+ self.size = size
+ self.access = access
+ self.default = default
+ self.ranges = ranges
+ self.unit = unit
+ pass
+
+ def __getitem__(self, key):
+ return getattr(self,key)
+
+ def __repr__(self):
+ return "Row(%s)" % ([self.name, self.index, self.address, self.size,
+ self.access, self.default, self.ranges, self.unit])
+
+class ParsedRow(Row):
+
+ def __init__(self, tr, name_to_index):
+ (name, address, size, access, default,
+ ranges, unit) = extract_row(tr, name_to_index)
+ m = re.match('^([a-z_][a-z0-9_]*[a-z_])(?:_([0-9]+))?$',
+ name.lower()
+ .replace(' ', '_')
+ .replace('(shadow)', ''))
+ if not (m and address.isdigit()):
+ raise ValueError((name, address, size, access, default,
+ ranges, unit))
+ super(ParsedRow, self).__init__(
+ name=m.group(1),
+ index=m.group(2),
+ address=int(address),
+ size=int(size),
+ access=set(access),
+ default=int(default) if default.isdigit() else None,
+ ranges=ranges,
+ unit=unit)
+
+ def range(self, end):
+ N = end.index - self.index
+ adress_step = (end.address - self.address) / N
+ default_step = (end.default - self.default) / N
+ for i in range(1, N):
+ yield Row(self.name, self.index + i,
+ int(self.address + i*adress_step),
+ self.size, self.access,
+ int(self.default + i*default_step),
+ self.ranges, self.unit)
+ pass
+
+
+
+class Table:
+
+ def __init__(self, table):
+ self.row = {}
+ name_to_index = dict([ (e.text, i) for i,e in enumerate(table[0][0]) ])
+ for i,tr in enumerate(table[1]):
+ try:
+ row = ParsedRow(tr, name_to_index)
+ self.add(row)
+ pass
+ except ValueError:
+ r1 = ParsedRow(table[1][i-1], name_to_index)
+ r2 = ParsedRow(table[1][i+1], name_to_index)
+ for r in r1.range(r2):
+ self.add(r)
+ pass
+ pass
+ pass
+ pass
+
+ def add(self, row):
+ if row.index == None:
+ # Ordinary row
+ self.row[row.name] = row
+ pass
+ else:
+ # Indirect row
+ if not row.name in self.row:
+ self.row[row.name] = {}
+ pass
+ self.row[row.name][row.index] = row
+ pass
+ pass
+
+ def __iter__(self):
+ def key(r):
+ if isinstance(r[1], dict):
+ # Sort indirect registers on first
+ return min([ r.address for r in r[1].values() ])
+ return r[1].address
+ for k,v in sorted(self.row.items(), key=key):
+ yield v
+ pass
+ pass
+
+ pass
+
+def Parse(path):
+ et = lxml.etree.HTML(open(path).read())
+ title = None
+ table = {}
+ protocol = set()
+ id = None
+ def traverse(t):
+ nonlocal title
+ nonlocal table
+ nonlocal protocol
+ nonlocal id
+ for st in t:
+ if st.tag == 'title':
+ # Save product name
+ title = (st.text
+ .replace('/', '_')
+ .replace('(', '_')
+ .replace(')', ''))
+ pass
+ elif st.tag == 'table':
+ # Only save control tables
+ if id.startswith('control-table'):
+ table[id] = Table(st)
+ pass
+ pass
+ elif (st.tag == 'a' and id == 'control-table-data-address' and
+ (m := re.match('^.*/(protocol[^/]+).*$', st.get('href')))):
+ protocol.add(m.group(1).replace('protocol', 'Protocol'))
+ else:
+ id = st.get('id') or id
+ traverse(st)
+ pass
+ pass
+ pass
+ traverse(et)
+ return(title, table, protocol)
+
+for path in sys.argv[1:]:
+ EEPROM = {}
+ RAM = {}
+ title, tables, protocol = Parse(path)
+ print(title, protocol)
+ if re.match('^[A-X0-9]*-.*$', title):
+ EEPROM[title] = tables['control-table-of-eeprom-area']
+ RAM[title] = tables['control-table-of-ram-area']
+ pass
+ for model in sorted(EEPROM):
+ with open("dynamixel/model/%s.py" % (model.lower().replace('-', '_')),
+ 'w') as f:
+ def expand_indirect_row(r):
+ def ranges(r):
+ size = r[1].size
+ current = None
+ start = None
+ for k,v in sorted(r.items()):
+ if current == None:
+ start = v.address
+ pass
+ elif current + size != v.address:
+ yield range(start, current + size, size)
+ start = v.address
+ pass
+ current = v.address
+ pass
+ yield range(start, current + size, size)
+ pass
+ return (f"IndirectRow(name='{r[1].name}', "
+ f"addresses={list(ranges(r))}, "
+ f"size={r[1].size})")
+ def expand_row(r):
+ if isinstance(r, dict):
+ return expand_indirect_row(r)
+ pass
+ else:
+ return (f"Row(name='{r.name}', "
+ f"address={r.address}, "
+ f"size={r.size}, default={r.default})")
+ pass
+
+ def expand_table(t):
+ for r in t:
+ yield expand_row(r)
+ pass
+ pass
+ py_model = model.replace('-', '_')
+ indent = ',\n '
+ f.write(f'''
+from dynamixel.servo import Servo, Row, IndirectRow
+import dynamixel.protocol
+
+class {py_model}(Servo):
+ EEPROM = [
+ {indent.join(expand_table(EEPROM[model]))}
+ ]
+ RAM = [
+ {indent.join(expand_table(RAM[model]))}
+ ]
+ PROTOCOL = dynamixel.protocol.{max(protocol)}
+
+ def __init__(self, id):
+ super({py_model}, self).__init__(
+ id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+''')
+ pass
+ pass
+ pass
--
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