From a4c3f26899322a93a38a2c33294e0b1cb1ac5602 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 10 Dec 2020 16:29:25 +0100
Subject: [PATCH] Add Protocol-1 implementation
---
dynamixel/channel/channel.py | 25 +++++++++++++++++++------
1 file changed, 19 insertions(+), 6 deletions(-)
diff --git a/dynamixel/channel/channel.py b/dynamixel/channel/channel.py
index f5e082f..5ecf5de 100644
--- a/dynamixel/channel/channel.py
+++ b/dynamixel/channel/channel.py
@@ -58,15 +58,12 @@ class Channel:
pass
-class Protocol1:
- pass
-
-class Protocol2:
+class Protocol:
- def __init__(self, port_handler):
+ def __init__(self, port_handler, packet_handler):
self.port_handler = port_handler
- self.packet_handler = sdk.PacketHandler(2.0)
+ self.packet_handler = packet_handler
pass
def read(self, servo, row):
@@ -113,3 +110,19 @@ class Protocol2:
pass
+
+class Protocol1(Protocol):
+
+ def __init__(self, port_handler):
+ super(Protocol1, self).__init__(port_handler, sdk.PacketHandler(1.0))
+ pass
+
+ pass
+
+class Protocol2(Protocol):
+
+ def __init__(self, port_handler):
+ super(Protocol2, self).__init__(port_handler, sdk.PacketHandler(2.0))
+ pass
+
+ pass
--
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