From 8f04b3604c5c34965d24910ba328578d672cd57e Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 11 Aug 2022 16:57:31 +0200
Subject: [PATCH] Set channel to low latency mode
---
dynamixel.spec.template | 5 +++--
dynamixel/channel/channel.py | 6 +++++-
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/dynamixel.spec.template b/dynamixel.spec.template
index 79d9fb9..97caac2 100644
--- a/dynamixel.spec.template
+++ b/dynamixel.spec.template
@@ -12,14 +12,15 @@ Source0: https://gitlab.control.lth.se/anders_blomdell/dynamixel/-/archiv
%endif
BuildRequires: python3-devel
+BuildRequires: make
+Requires: %{name}-python%{python3_pkgversion}
%description
Wrapper for Dynamixel SDK
%package python%{python3_pkgversion}
Summary: Python3 support files for %{name}
-Requires: %{name} = %{version}-%{release}
-Requires: python3-dynamixel-sdk
+Requires: python3-dynamixel-sdk
%description python%{python3_pkgversion}
Wrapper for Dynamixel SDK
diff --git a/dynamixel/channel/channel.py b/dynamixel/channel/channel.py
index 5ecf5de..b784212 100644
--- a/dynamixel/channel/channel.py
+++ b/dynamixel/channel/channel.py
@@ -38,7 +38,11 @@ class Channel:
raise Exception("self.port_handler.openPort()")
if not self.port_handler.setBaudRate(speed):
raise Exception(f"self.port_handler.setBaudRate({speed})")
-
+ try:
+ self.port_handler.ser.set_low_latency_mode(True)
+ except:
+ raise Exception("self.port_handler.ser-set_low_latency_mode(True)")
+
# Check id (i.e. FT2H2W9I)...
self._protocol = {}
--
GitLab