From ce15fa78252a88f87a72f6ee03d590bbaebf9f08 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 10 Dec 2020 13:33:34 +0100
Subject: [PATCH] First working version
---
dynamixel/channel/__init__.py | 3 +
dynamixel/channel/channel.py | 115 ++++++++++++++++++++++
dynamixel/model/2xc430_w250.py | 65 ------------
dynamixel/model/2xl430_w250_t.py | 65 ------------
dynamixel/model/ax_12a.py | 84 ++++++++--------
dynamixel/model/ax_12w.py | 84 ++++++++--------
dynamixel/model/ax_18a.py | 84 ++++++++--------
dynamixel/model/dual_xc430_w250.py | 65 ++++++++++++
dynamixel/model/dual_xl430_w250_t.py | 65 ++++++++++++
dynamixel/model/dx_113.py | 84 ++++++++--------
dynamixel/model/dx_116.py | 84 ++++++++--------
dynamixel/model/dx_117.py | 84 ++++++++--------
dynamixel/model/ex_106+.py | 48 ---------
dynamixel/model/ex_106.py | 48 +++++++++
dynamixel/model/h42_20_s300_r.py | 104 ++++++++++----------
dynamixel/model/h42_20_s300_r_a.py | 134 ++++++++++++-------------
dynamixel/model/h54_100_s500_r.py | 104 ++++++++++----------
dynamixel/model/h54_100_s500_r_a.py | 134 ++++++++++++-------------
dynamixel/model/h54_200_s500_r.py | 104 ++++++++++----------
dynamixel/model/h54_200_s500_r_a.py | 134 ++++++++++++-------------
dynamixel/model/l42_10_s300_r.py | 104 ++++++++++----------
dynamixel/model/l54_30_s400_r.py | 104 ++++++++++----------
dynamixel/model/l54_30_s500_r.py | 104 ++++++++++----------
dynamixel/model/l54_50_s290_r.py | 104 ++++++++++----------
dynamixel/model/l54_50_s500_r.py | 104 ++++++++++----------
dynamixel/model/m42_10_s260_r.py | 104 ++++++++++----------
dynamixel/model/m42_10_s260_r_a.py | 134 ++++++++++++-------------
dynamixel/model/m54_40_s250_r.py | 104 ++++++++++----------
dynamixel/model/m54_40_s250_r_a.py | 134 ++++++++++++-------------
dynamixel/model/m54_60_s250_r.py | 104 ++++++++++----------
dynamixel/model/m54_60_s250_r_a.py | 134 ++++++++++++-------------
dynamixel/model/mx_106t_r.py | 98 +++++++++----------
dynamixel/model/mx_106t_r_2.0.py | 128 ++++++++++++------------
dynamixel/model/mx_12w.py | 90 ++++++++---------
dynamixel/model/mx_28t_r_at_ar.py | 90 ++++++++---------
dynamixel/model/mx_28t_r_at_ar_2.0.py | 124 +++++++++++------------
dynamixel/model/mx_64t_r_at_ar.py | 96 +++++++++---------
dynamixel/model/mx_64t_r_at_ar_2.0.py | 128 ++++++++++++------------
dynamixel/model/ph42_020_s300_r.py | 136 +++++++++++++-------------
dynamixel/model/ph54_100_s500_r.py | 136 +++++++++++++-------------
dynamixel/model/ph54_200_s500_r.py | 136 +++++++++++++-------------
dynamixel/model/pm42_010_s260_r.py | 136 +++++++++++++-------------
dynamixel/model/pm54_040_s250_r.py | 136 +++++++++++++-------------
dynamixel/model/pm54_060_s250_r.py | 136 +++++++++++++-------------
dynamixel/model/rx_10.py | 84 ++++++++--------
dynamixel/model/rx_24f.py | 84 ++++++++--------
dynamixel/model/rx_28.py | 84 ++++++++--------
dynamixel/model/rx_64.py | 84 ++++++++--------
dynamixel/model/xc430_w150_t.py | 122 +++++++++++------------
dynamixel/model/xc430_w240_t.py | 122 +++++++++++------------
dynamixel/model/xh430_v210_r.py | 126 ++++++++++++------------
dynamixel/model/xh430_v350_r.py | 126 ++++++++++++------------
dynamixel/model/xh430_w210_t_r.py | 126 ++++++++++++------------
dynamixel/model/xh430_w350_t_r.py | 126 ++++++++++++------------
dynamixel/model/xh540_v150_r.py | 130 ++++++++++++------------
dynamixel/model/xh540_v270_r.py | 130 ++++++++++++------------
dynamixel/model/xh540_w150_t_r.py | 130 ++++++++++++------------
dynamixel/model/xh540_w270_t_r.py | 130 ++++++++++++------------
dynamixel/model/xl430_w250_t.py | 122 +++++++++++------------
dynamixel/model/xl_320.py | 82 ++++++++--------
dynamixel/model/xm430_w210_t_r.py | 126 ++++++++++++------------
dynamixel/model/xm430_w350_t_r.py | 126 ++++++++++++------------
dynamixel/model/xm540_w150_t_r.py | 130 ++++++++++++------------
dynamixel/model/xm540_w270_t_r.py | 130 ++++++++++++------------
dynamixel/model/xw540_t140_r.py | 124 +++++++++++------------
dynamixel/model/xw540_t260_r.py | 124 +++++++++++------------
dynamixel/protocol/Protocol2.py | 2 -
dynamixel/protocol/__init__.py | 1 -
dynamixel/servo/__init__.py | 71 ++++++++++++--
three_wheel_example.py | 33 +++++++
tools/html2desc.py | 32 +++---
71 files changed, 3707 insertions(+), 3496 deletions(-)
create mode 100644 dynamixel/channel/channel.py
delete mode 100644 dynamixel/model/2xc430_w250.py
delete mode 100644 dynamixel/model/2xl430_w250_t.py
create mode 100644 dynamixel/model/dual_xc430_w250.py
create mode 100644 dynamixel/model/dual_xl430_w250_t.py
delete mode 100644 dynamixel/model/ex_106+.py
create mode 100644 dynamixel/model/ex_106.py
delete mode 100644 dynamixel/protocol/Protocol2.py
delete mode 100644 dynamixel/protocol/__init__.py
create mode 100755 three_wheel_example.py
diff --git a/dynamixel/channel/__init__.py b/dynamixel/channel/__init__.py
index e69de29..954dd7b 100644
--- a/dynamixel/channel/__init__.py
+++ b/dynamixel/channel/__init__.py
@@ -0,0 +1,3 @@
+from .channel import Channel
+from .channel import Protocol1
+from .channel import Protocol2
diff --git a/dynamixel/channel/channel.py b/dynamixel/channel/channel.py
new file mode 100644
index 0000000..f5e082f
--- /dev/null
+++ b/dynamixel/channel/channel.py
@@ -0,0 +1,115 @@
+#!/usr/bin/python3
+
+import dynamixel_sdk as sdk
+import serial.tools
+import serial.tools.list_ports
+
+class Channel:
+
+ def __init__(self, speed, serial_number=None, device=None):
+ if serial_number != None and device != None:
+ raise Exception('Either serial_number or port should be specified')
+
+ # Hackish way to check baud-rate
+ if sdk.PortHandler.getCFlagBaud(None, speed) < 0:
+ raise Exception('Baud rate error "%d"' % speed)
+
+ # Scan available USB devices
+ devices = {}
+ for v,p,s,d in [ (p.vid, p.pid, p.serial_number, p.device)
+ for p
+ in serial.tools.list_ports.comports() ]:
+ devices[s] = d
+ pass
+ if serial_number and serial_number in devices:
+ port = devices[serial_number]
+ pass
+ elif device and device in devices.values():
+ port = device
+ pass
+ elif len(devices) == 1:
+ port = list(devices.values())[0]
+ print("Warning, defaulting to: ", devices)
+ else:
+ raise Exception(f'Select one of: {devices}')
+
+ self.port_handler = sdk.PortHandler(port)
+ if not self.port_handler.openPort():
+ raise Exception("self.port_handler.openPort()")
+ if not self.port_handler.setBaudRate(speed):
+ raise Exception(f"self.port_handler.setBaudRate({speed})")
+
+ # Check id (i.e. FT2H2W9I)...
+
+ self._protocol = {}
+ pass
+
+ def protocol(self, protocol):
+ if protocol in self._protocol:
+ return self._protocol[protocol]
+ else:
+ self._protocol[protocol] = protocol(self.port_handler)
+ return self._protocol[protocol]
+
+ def add(self, device):
+ print('Add', device)
+ pass
+
+
+ pass
+
+class Protocol1:
+
+ pass
+
+class Protocol2:
+
+ def __init__(self, port_handler):
+ self.port_handler = port_handler
+ self.packet_handler = sdk.PacketHandler(2.0)
+ pass
+
+ def read(self, servo, row):
+ if row.size == 1:
+ value, comm_result, error = self.packet_handler.read1ByteTxRx(
+ self.port_handler, servo._id, row.address)
+ pass
+ elif row.size == 2:
+ value, comm_result, error = self.packet_handler.read2ByteTxRx(
+ self.port_handler, servo._id, row.address)
+ pass
+ elif row.size == 4:
+ value, comm_result, error = self.packet_handler.read4ByteTxRx(
+ self.port_handler, servo._id, row.address)
+ pass
+ else:
+ raise Exception('Invalid size', row)
+ if comm_result != 0:
+ raise Exception("Comunication error", comm_result)
+ if error != 0:
+ raise Exception("Servo error", error)
+ return value
+
+ def write(self, servo, row, value):
+ if row.size == 1:
+ comm_result, error = self.packet_handler.write1ByteTxRx(
+ self.port_handler, servo._id, row.address, value)
+ pass
+ elif row.size == 2:
+ comm_result, error = self.packet_handler.write2ByteTxRx(
+ self.port_handler, servo._id, row.address, value)
+ pass
+ elif row.size == 4:
+ comm_result, error = self.packet_handler.write4ByteTxRx(
+ self.port_handler, servo._id, row.address, value)
+ pass
+ else:
+ raise Exception('Invalid size', row)
+ if comm_result != 0:
+ raise Exception("Comunication error", comm_result)
+ if error != 0:
+ raise Exception("Servo error", error)
+ pass
+
+ pass
+
diff --git a/dynamixel/model/2xc430_w250.py b/dynamixel/model/2xc430_w250.py
deleted file mode 100644
index 80b014c..0000000
--- a/dynamixel/model/2xc430_w250.py
+++ /dev/null
@@ -1,65 +0,0 @@
-
-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
deleted file mode 100644
index 3e3ed98..0000000
--- a/dynamixel/model/2xl430_w250_t.py
+++ /dev/null
@@ -1,65 +0,0 @@
-
-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
index 4572b88..026154e 100644
--- a/dynamixel/model/ax_12a.py
+++ b/dynamixel/model/ax_12a.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=12),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=70),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=140),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(AX_12A, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(AX_12A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ax_12w.py b/dynamixel/model/ax_12w.py
index 9ab069d..12dd749 100644
--- a/dynamixel/model/ax_12w.py
+++ b/dynamixel/model/ax_12w.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=300),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=70),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=140),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=4),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=4),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=64),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=64),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(AX_12W, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(AX_12W, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ax_18a.py b/dynamixel/model/ax_18a.py
index ccdf5e1..61236ce 100644
--- a/dynamixel/model/ax_18a.py
+++ b/dynamixel/model/ax_18a.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=18),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=75),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=140),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=983),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(AX_18A, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(AX_18A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/dual_xc430_w250.py b/dynamixel/model/dual_xc430_w250.py
new file mode 100644
index 0000000..7a4fa49
--- /dev/null
+++ b/dynamixel/model/dual_xc430_w250.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
+
+class DUAL_XC430_W250(Servo):
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1160),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=None),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=60),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=275),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=700),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
+
+ def __init__(self, channel, id):
+ super(DUAL_XC430_W250, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/dual_xl430_w250_t.py b/dynamixel/model/dual_xl430_w250_t.py
new file mode 100644
index 0000000..5acfe77
--- /dev/null
+++ b/dynamixel/model/dual_xl430_w250_t.py
@@ -0,0 +1,65 @@
+
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
+
+class DUAL_XL430_W250_T(Servo):
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1090),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=None),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=72),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=140),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=60),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=250),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1800),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=2000),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=640),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
+
+ def __init__(self, channel, id):
+ super(DUAL_XL430_W250_T, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/dx_113.py b/dynamixel/model/dx_113.py
index ed75651..45bbf0c 100644
--- a/dynamixel/model/dx_113.py
+++ b/dynamixel/model/dx_113.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=113),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=85),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=0),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=0),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(DX_113, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(DX_113, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/dx_116.py b/dynamixel/model/dx_116.py
index 8aedc02..ab075c6 100644
--- a/dynamixel/model/dx_116.py
+++ b/dynamixel/model/dx_116.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=116),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=85),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=0),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=0),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(DX_116, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(DX_116, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/dx_117.py b/dynamixel/model/dx_117.py
index a8c09e2..42d03b5 100644
--- a/dynamixel/model/dx_117.py
+++ b/dynamixel/model/dx_117.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=117),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(DX_117, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(DX_117, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ex_106+.py b/dynamixel/model/ex_106+.py
deleted file mode 100644
index 5fa6e3d..0000000
--- a/dynamixel/model/ex_106+.py
+++ /dev/null
@@ -1,48 +0,0 @@
-
-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/ex_106.py b/dynamixel/model/ex_106.py
new file mode 100644
index 0000000..adcb338
--- /dev/null
+++ b/dynamixel/model/ex_106.py
@@ -0,0 +1,48 @@
+
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
+
+class EX_106(Servo):
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=107),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=4095),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=240),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=0),
+ 'sensed_current': Row(name='sensed_current', address=56, size=2, default=None)
+ }
+ PROTOCOL = Protocol1
+
+ def __init__(self, channel, id):
+ super(EX_106, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h42_20_s300_r.py b/dynamixel/model/h42_20_s300_r.py
index 8fdb2d4..27543df 100644
--- a/dynamixel/model/h42_20_s300_r.py
+++ b/dynamixel/model/h42_20_s300_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=51200),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=255),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=465),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=10300),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=151875),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=40),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=440),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(H42_20_S300_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(H42_20_S300_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h42_20_s300_r_a.py b/dynamixel/model/h42_20_s300_r_a.py
index 471fabb..6b9af01 100644
--- a/dynamixel/model/h42_20_s300_r_a.py
+++ b/dynamixel/model/h42_20_s300_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=51201),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=4500),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10765),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=303454),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(H42_20_S300_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h54_100_s500_r.py b/dynamixel/model/h54_100_s500_r.py
index 4870760..3513769 100644
--- a/dynamixel/model/h54_100_s500_r.py
+++ b/dynamixel/model/h54_100_s500_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=53768),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=310),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=17000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=250961),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=256),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(H54_100_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(H54_100_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h54_100_s500_r_a.py b/dynamixel/model/h54_100_s500_r_a.py
index fdf100e..8ce2b33 100644
--- a/dynamixel/model/h54_100_s500_r_a.py
+++ b/dynamixel/model/h54_100_s500_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=53769),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=15900),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10639),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(H54_100_S500_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h54_200_s500_r.py b/dynamixel/model/h54_200_s500_r.py
index b8fd5e2..185e233 100644
--- a/dynamixel/model/h54_200_s500_r.py
+++ b/dynamixel/model/h54_200_s500_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=54024),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=620),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=17000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=250961),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=14),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=399),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(H54_200_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(H54_200_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/h54_200_s500_r_a.py b/dynamixel/model/h54_200_s500_r_a.py
index d42186b..3f33e20 100644
--- a/dynamixel/model/h54_200_s500_r_a.py
+++ b/dynamixel/model/h54_200_s500_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=54025),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=22740),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=9982),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2900),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(H54_200_S500_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/l42_10_s300_r.py b/dynamixel/model/l42_10_s300_r.py
index e5b1888..6dada2b 100644
--- a/dynamixel/model/l42_10_s300_r.py
+++ b/dynamixel/model/l42_10_s300_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=35072),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=987),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=None),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=2048),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=30),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=40),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=440),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=64),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(L42_10_S300_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(L42_10_S300_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/l54_30_s400_r.py b/dynamixel/model/l54_30_s400_r.py
index c6a0355..18373b0 100644
--- a/dynamixel/model/l54_30_s400_r.py
+++ b/dynamixel/model/l54_30_s400_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=37928),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=100),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=9000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=144197),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=412),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=200),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(L54_30_S400_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(L54_30_S400_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/l54_30_s500_r.py b/dynamixel/model/l54_30_s500_r.py
index 5ad457b..8cdcd3b 100644
--- a/dynamixel/model/l54_30_s500_r.py
+++ b/dynamixel/model/l54_30_s500_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=37896),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=100),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=9000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=180692),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=256),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(L54_30_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(L54_30_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/l54_50_s290_r.py b/dynamixel/model/l54_50_s290_r.py
index 0d301b4..0c7c060 100644
--- a/dynamixel/model/l54_50_s290_r.py
+++ b/dynamixel/model/l54_50_s290_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=38176),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=103846),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=412),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=250),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(L54_50_S290_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(L54_50_S290_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/l54_50_s500_r.py b/dynamixel/model/l54_50_s500_r.py
index c047b61..0aeac95 100644
--- a/dynamixel/model/l54_50_s500_r.py
+++ b/dynamixel/model/l54_50_s500_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=38152),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=180692),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=256),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(L54_50_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(L54_50_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m42_10_s260_r.py b/dynamixel/model/m42_10_s260_r.py
index 7b73819..7038cff 100644
--- a/dynamixel/model/m42_10_s260_r.py
+++ b/dynamixel/model/m42_10_s260_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=43288),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=300),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=131593),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=72),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=520),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(M42_10_S260_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(M42_10_S260_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m42_10_s260_r_a.py b/dynamixel/model/m42_10_s260_r_a.py
index a867531..b11180e 100644
--- a/dynamixel/model/m42_10_s260_r_a.py
+++ b/dynamixel/model/m42_10_s260_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=43289),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=300),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=1461),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10867),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2600),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=262931),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(M42_10_S260_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m54_40_s250_r.py b/dynamixel/model/m54_40_s250_r.py
index 906479c..9e4b8a3 100644
--- a/dynamixel/model/m54_40_s250_r.py
+++ b/dynamixel/model/m54_40_s250_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=46096),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=125708),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=256),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(M54_40_S250_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(M54_40_S250_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m54_40_s250_r_a.py b/dynamixel/model/m54_40_s250_r_a.py
index a8d8702..c17da62 100644
--- a/dynamixel/model/m54_40_s250_r_a.py
+++ b/dynamixel/model/m54_40_s250_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=46097),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=4470),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11037),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2840),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(M54_40_S250_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m54_60_s250_r.py b/dynamixel/model/m54_60_s250_r.py
index 6a3136f..670c061 100644
--- a/dynamixel/model/m54_60_s250_r.py
+++ b/dynamixel/model/m54_60_s250_r.py
@@ -1,56 +1,56 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=46352),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'homing_offset': RWRow(name='homing_offset', address=13, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=17, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=21, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=22, size=2, default=400),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=24, size=2, default=150),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=26, size=4, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=180),
+ 'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
+ 'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=125708),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=562, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=563, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=564, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=565, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=586, size=2, default=16),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=588, size=2, default=256),
+ 'position_p_gain': RWRow(name='position_p_gain', address=594, size=2, default=32),
+ 'goal_position': RWRow(name='goal_position', address=596, size=4, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=600, size=4, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=604, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=606, size=4, default=0),
+ 'moving': Row(name='moving', address=610, size=1, default=None),
+ 'present_position': Row(name='present_position', address=611, size=4, default=None),
+ 'present_velocity': Row(name='present_velocity', address=615, size=4, default=None),
+ 'present_current': Row(name='present_current', address=621, size=2, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=623, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=625, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(626, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 890)], size=1),
+ 'registered_instruction': Row(name='registered_instruction', address=890, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=891, size=1, default=2),
+ 'hardware_error_status': Row(name='hardware_error_status', address=892, size=1, default=0)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(M54_60_S250_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(M54_60_S250_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/m54_60_s250_r_a.py b/dynamixel/model/m54_60_s250_r_a.py
index 4b837af..28c2c27 100644
--- a/dynamixel/model/m54_60_s250_r_a.py
+++ b/dynamixel/model/m54_60_s250_r_a.py
@@ -1,71 +1,71 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=46353),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=50),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=7980),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11145),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2830),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(M54_60_S250_R_A, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_106t_r.py b/dynamixel/model/mx_106t_r.py
index 93c1c1f..42c0000 100644
--- a/dynamixel/model/mx_106t_r.py
+++ b/dynamixel/model/mx_106t_r.py
@@ -1,53 +1,53 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=320),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=4095),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=160),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36),
+ 'multi_turn_offset': RWRow(name='multi_turn_offset', address=20, size=2, default=0),
+ 'resolution_divider': RWRow(name='resolution_divider', address=22, size=1, default=1)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'd_gain': RWRow(name='d_gain', address=26, size=1, default=0),
+ 'i_gain': RWRow(name='i_gain', address=27, size=1, default=0),
+ 'p_gain': RWRow(name='p_gain', address=28, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=0),
+ 'realtime_tick': Row(name='realtime_tick', address=50, size=2, default=0),
+ 'current': RWRow(name='current', address=68, size=2, default=0),
+ 'torque_ctrl_mode_enable': RWRow(name='torque_ctrl_mode_enable', address=70, size=1, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=71, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=73, size=1, default=0)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(MX_106T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(MX_106T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_106t_r_2.0.py b/dynamixel/model/mx_106t_r_2.0.py
index fccc138..cbb9d72 100644
--- a/dynamixel/model/mx_106t_r_2.0.py
+++ b/dynamixel/model/mx_106t_r_2.0.py
@@ -1,68 +1,68 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=321),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=32767),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=210),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=850),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(MX_106T_R_2.0, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_12w.py b/dynamixel/model/mx_12w.py
index b455db0..824e30f 100644
--- a/dynamixel/model/mx_12w.py
+++ b/dynamixel/model/mx_12w.py
@@ -1,49 +1,49 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=360),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=4095),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=70),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=160),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36),
+ 'multi_turn_offset': RWRow(name='multi_turn_offset', address=20, size=2, default=0),
+ 'resolution_divider': RWRow(name='resolution_divider', address=22, size=1, default=1)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'd_gain': RWRow(name='d_gain', address=26, size=1, default=8),
+ 'i_gain': RWRow(name='i_gain', address=27, size=1, default=0),
+ 'p_gain': RWRow(name='p_gain', address=28, size=1, default=8),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32),
+ 'realtime_tick': Row(name='realtime_tick', address=50, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=73, size=1, default=0)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(MX_12W, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(MX_12W, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_28t_r_at_ar.py b/dynamixel/model/mx_28t_r_at_ar.py
index cba2d3a..7707abf 100644
--- a/dynamixel/model/mx_28t_r_at_ar.py
+++ b/dynamixel/model/mx_28t_r_at_ar.py
@@ -1,49 +1,49 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=29),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=4095),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=160),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36),
+ 'multi_turn_offset': RWRow(name='multi_turn_offset', address=20, size=2, default=0),
+ 'resolution_divider': RWRow(name='resolution_divider', address=22, size=1, default=1)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'd_gain': RWRow(name='d_gain', address=26, size=1, default=0),
+ 'i_gain': RWRow(name='i_gain', address=27, size=1, default=0),
+ 'p_gain': RWRow(name='p_gain', address=28, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=0),
+ 'realtime_tick': Row(name='realtime_tick', address=50, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=73, size=1, default=0)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(MX_28T_R_AT_AR, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_28t_r_at_ar_2.0.py b/dynamixel/model/mx_28t_r_at_ar_2.0.py
index 6ceaaa6..7553e37 100644
--- a/dynamixel/model/mx_28t_r_at_ar_2.0.py
+++ b/dynamixel/model/mx_28t_r_at_ar_2.0.py
@@ -1,66 +1,66 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=30),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=32767),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=230),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=850),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(MX_28T_R_AT_AR_2.0, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_64t_r_at_ar.py b/dynamixel/model/mx_64t_r_at_ar.py
index 68b8d2e..3a62ca1 100644
--- a/dynamixel/model/mx_64t_r_at_ar.py
+++ b/dynamixel/model/mx_64t_r_at_ar.py
@@ -1,52 +1,52 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=310),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=4095),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=240),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36),
+ 'multi_turn_offset': RWRow(name='multi_turn_offset', address=20, size=2, default=0),
+ 'resolution_divider': RWRow(name='resolution_divider', address=22, size=1, default=1)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'd_gain': RWRow(name='d_gain', address=26, size=1, default=0),
+ 'i_gain': RWRow(name='i_gain', address=27, size=1, default=0),
+ 'p_gain': RWRow(name='p_gain', address=28, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=0),
+ 'realtime_tick': Row(name='realtime_tick', address=50, size=2, default=0),
+ 'current': RWRow(name='current', address=68, size=2, default=0),
+ 'torque_ctrl_mode_enable': RWRow(name='torque_ctrl_mode_enable', address=70, size=1, default=0),
+ 'goal_torque': RWRow(name='goal_torque', address=71, size=2, default=0),
+ 'goal_acceleration': RWRow(name='goal_acceleration', address=73, size=1, default=0)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(MX_64T_R_AT_AR, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/mx_64t_r_at_ar_2.0.py b/dynamixel/model/mx_64t_r_at_ar_2.0.py
index 6115df3..579f736 100644
--- a/dynamixel/model/mx_64t_r_at_ar_2.0.py
+++ b/dynamixel/model/mx_64t_r_at_ar_2.0.py
@@ -1,68 +1,68 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=311),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=1941),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=32767),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=285),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=850),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ 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)
+ def __init__(self, channel, id):
+ super(MX_64T_R_AT_AR_2.0, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ph42_020_s300_r.py b/dynamixel/model/ph42_020_s300_r.py
index 32b2269..fbb70f0 100644
--- a/dynamixel/model/ph42_020_s300_r.py
+++ b/dynamixel/model/ph42_020_s300_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2000),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=4500),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10765),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=303454),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PH42_020_S300_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PH42_020_S300_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ph54_100_s500_r.py b/dynamixel/model/ph54_100_s500_r.py
index 9e80eec..d9e8a73 100644
--- a/dynamixel/model/ph54_100_s500_r.py
+++ b/dynamixel/model/ph54_100_s500_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2010),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=15900),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10639),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PH54_100_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PH54_100_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/ph54_200_s500_r.py b/dynamixel/model/ph54_200_s500_r.py
index d1fe857..8aff141 100644
--- a/dynamixel/model/ph54_200_s500_r.py
+++ b/dynamixel/model/ph54_200_s500_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2020),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=22740),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=9982),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2900),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PH54_200_S500_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PH54_200_S500_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/pm42_010_s260_r.py b/dynamixel/model/pm42_010_s260_r.py
index e2bc049..b82f5d9 100644
--- a/dynamixel/model/pm42_010_s260_r.py
+++ b/dynamixel/model/pm42_010_s260_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2100),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=1461),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10867),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2600),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=262931),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PM42_010_S260_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PM42_010_S260_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/pm54_040_s250_r.py b/dynamixel/model/pm54_040_s250_r.py
index 8289ef9..db44d55 100644
--- a/dynamixel/model/pm54_040_s250_r.py
+++ b/dynamixel/model/pm54_040_s250_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2110),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'sencondary_id': RWRow(name='sencondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=4470),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11037),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2840),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PM54_040_S250_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PM54_040_S250_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/pm54_060_s250_r.py b/dynamixel/model/pm54_060_s250_r.py
index ef29728..19ba4c0 100644
--- a/dynamixel/model/pm54_060_s250_r.py
+++ b/dynamixel/model/pm54_060_s250_r.py
@@ -1,72 +1,72 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=2120),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=350),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=150),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=2009),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=7980),
+ 'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11145),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2830),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=512, size=1, default=0),
+ 'led_red': RWRow(name='led_red', address=513, size=1, default=0),
+ 'led_green': RWRow(name='led_green', address=514, size=1, default=0),
+ 'led_blue': RWRow(name='led_blue', address=515, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=516, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=517, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=518, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=524, size=2, default=None),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=526, size=2, default=None),
+ 'position_d_gain': RWRow(name='position_d_gain', address=528, size=2, default=None),
+ 'position_i_gain': RWRow(name='position_i_gain', address=530, size=2, default=None),
+ 'position_p_gain': RWRow(name='position_p_gain', address=532, size=2, default=None),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=536, size=2, default=None),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=538, size=2, default=None),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=546, size=1, default=None),
+ 'goal_pwm': RWRow(name='goal_pwm', address=548, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=550, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=552, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=556, size=4, default=None),
+ 'profile_velocity': RWRow(name='profile_velocity', address=560, size=4, default=None),
+ 'goal_position': RWRow(name='goal_position', address=564, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=568, size=2, default=None),
+ 'moving': Row(name='moving', address=570, size=1, default=None),
+ 'moving_status': Row(name='moving_status', address=571, size=1, default=None),
+ 'present_pwm': Row(name='present_pwm', address=572, size=2, default=None),
+ 'present_current': Row(name='present_current', address=574, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=576, size=4, default=None),
+ 'present_position': Row(name='present_position', address=580, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=584, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=588, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=592, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=594, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(600, 608, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(634, 762)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(PM54_060_S250_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(PM54_060_S250_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/rx_10.py b/dynamixel/model/rx_10.py
index 2d3372b..6080a60 100644
--- a/dynamixel/model/rx_10.py
+++ b/dynamixel/model/rx_10.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=10),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(RX_10, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(RX_10, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/rx_24f.py b/dynamixel/model/rx_24f.py
index 40b2602..d2403ef 100644
--- a/dynamixel/model/rx_24f.py
+++ b/dynamixel/model/rx_24f.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=24),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(RX_24F, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(RX_24F, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/rx_28.py b/dynamixel/model/rx_28.py
index 71fbb7d..e65e5be 100644
--- a/dynamixel/model/rx_28.py
+++ b/dynamixel/model/rx_28.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=28),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(RX_28, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(RX_28, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/rx_64.py b/dynamixel/model/rx_64.py
index 88dbce4..e9f2257 100644
--- a/dynamixel/model/rx_64.py
+++ b/dynamixel/model/rx_64.py
@@ -1,46 +1,46 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol1
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=64),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=34),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'temperature_limit': RWRow(name='temperature_limit', address=11, size=1, default=80),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=12, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=13, size=1, default=190),
+ 'max_torque': RWRow(name='max_torque', address=14, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=16, size=1, default=2),
+ 'alarm_led': RWRow(name='alarm_led', address=17, size=1, default=36),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=36)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'cw_compliance_margin': RWRow(name='cw_compliance_margin', address=26, size=1, default=1),
+ 'ccw_compliance_margin': RWRow(name='ccw_compliance_margin', address=27, size=1, default=1),
+ 'cw_compliance_slope': RWRow(name='cw_compliance_slope', address=28, size=1, default=32),
+ 'ccw_compliance_slope': RWRow(name='ccw_compliance_slope', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=34, size=2, default=None),
+ 'present_position': Row(name='present_position', address=36, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=38, size=2, default=None),
+ 'present_load': Row(name='present_load', address=40, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=42, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=43, size=1, default=None),
+ 'registered': Row(name='registered', address=44, size=1, default=0),
+ 'moving': Row(name='moving', address=46, size=1, default=0),
+ 'lock': RWRow(name='lock', address=47, size=1, default=0),
+ 'punch': RWRow(name='punch', address=48, size=2, default=32)
+ }
+ PROTOCOL = Protocol1
- def __init__(self, id):
- super(RX_64, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(RX_64, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xc430_w150_t.py b/dynamixel/model/xc430_w150_t.py
index 4c997a3..81cfb57 100644
--- a/dynamixel/model/xc430_w150_t.py
+++ b/dynamixel/model/xc430_w150_t.py
@@ -1,65 +1,65 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1070),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=20),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=60),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=460),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=460),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XC430_W150_T, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XC430_W150_T, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xc430_w240_t.py b/dynamixel/model/xc430_w240_t.py
index ca90954..cbe1915 100644
--- a/dynamixel/model/xc430_w240_t.py
+++ b/dynamixel/model/xc430_w240_t.py
@@ -1,65 +1,65 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1080),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=60),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=306),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=700),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XC430_W240_T, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XC430_W240_T, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh430_v210_r.py b/dynamixel/model/xh430_v210_r.py
index 7a4c3ef..2faa4b5 100644
--- a/dynamixel/model/xh430_v210_r.py
+++ b/dynamixel/model/xh430_v210_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1050),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=300),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=110),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=689),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=230),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH430_V210_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH430_V210_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh430_v350_r.py b/dynamixel/model/xh430_v350_r.py
index db5ae3b..f50eba7 100644
--- a/dynamixel/model/xh430_v350_r.py
+++ b/dynamixel/model/xh430_v350_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1040),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=300),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=110),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=689),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=135),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH430_V350_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH430_V350_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh430_w210_t_r.py b/dynamixel/model/xh430_w210_t_r.py
index 3bd9ae2..c731ead 100644
--- a/dynamixel/model/xh430_w210_t_r.py
+++ b/dynamixel/model/xh430_w210_t_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1010),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=648),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=210),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=900),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH430_W210_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH430_W210_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh430_w350_t_r.py b/dynamixel/model/xh430_w350_t_r.py
index 3b28cb9..860ce9e 100644
--- a/dynamixel/model/xh430_w350_t_r.py
+++ b/dynamixel/model/xh430_w350_t_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1000),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=648),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=130),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=900),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH430_W350_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH430_W350_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh540_v150_r.py b/dynamixel/model/xh540_v150_r.py
index 8aacad0..51acc8f 100644
--- a/dynamixel/model/xh540_v150_r.py
+++ b/dynamixel/model/xh540_v150_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1150),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=300),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=110),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=230),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH540_V150_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH540_V150_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh540_v270_r.py b/dynamixel/model/xh540_v270_r.py
index d54166c..ad377fc 100644
--- a/dynamixel/model/xh540_v270_r.py
+++ b/dynamixel/model/xh540_v270_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1140),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=300),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=110),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=128),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH540_V270_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH540_V270_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh540_w150_t_r.py b/dynamixel/model/xh540_w150_t_r.py
index 68447a1..b6ab17c 100644
--- a/dynamixel/model/xh540_w150_t_r.py
+++ b/dynamixel/model/xh540_w150_t_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1110),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=300),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH540_W150_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH540_W150_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xh540_w270_t_r.py b/dynamixel/model/xh540_w270_t_r.py
index 5cb5457..8646689 100644
--- a/dynamixel/model/xh540_w270_t_r.py
+++ b/dynamixel/model/xh540_w270_t_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1100),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=167),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XH540_W270_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XH540_W270_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xl430_w250_t.py b/dynamixel/model/xl430_w250_t.py
index 66a0e40..ef5d8e3 100644
--- a/dynamixel/model/xl430_w250_t.py
+++ b/dynamixel/model/xl430_w250_t.py
@@ -1,65 +1,65 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1060),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=72),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=140),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=60),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=265),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1000),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=4000),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=640),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_load': Row(name='present_load', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XL430_W250_T, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XL430_W250_T, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xl_320.py b/dynamixel/model/xl_320.py
index fc3e80f..dc735ae 100644
--- a/dynamixel/model/xl_320.py
+++ b/dynamixel/model/xl_320.py
@@ -1,45 +1,45 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=350),
+ 'firmware_version': Row(name='firmware_version', address=2, size=1, default=None),
+ 'id': RWRow(name='id', address=3, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=4, size=1, default=3),
+ 'return_delay_time': RWRow(name='return_delay_time', address=5, size=1, default=250),
+ 'cw_angle_limit': RWRow(name='cw_angle_limit', address=6, size=2, default=0),
+ 'ccw_angle_limit': RWRow(name='ccw_angle_limit', address=8, size=2, default=1023),
+ 'control_mode': RWRow(name='control_mode', address=11, size=1, default=2),
+ 'temperature_limit': RWRow(name='temperature_limit', address=12, size=1, default=65),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=13, size=1, default=60),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=14, size=1, default=90),
+ 'max_torque': RWRow(name='max_torque', address=15, size=2, default=1023),
+ 'status_return_level': RWRow(name='status_return_level', address=17, size=1, default=2),
+ 'shutdown': RWRow(name='shutdown', address=18, size=1, default=3)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=24, size=1, default=0),
+ 'led': RWRow(name='led', address=25, size=1, default=0),
+ 'd_gain': RWRow(name='d_gain', address=27, size=1, default=0),
+ 'i_gain': RWRow(name='i_gain', address=28, size=1, default=0),
+ 'p_gain': RWRow(name='p_gain', address=29, size=1, default=32),
+ 'goal_position': RWRow(name='goal_position', address=30, size=2, default=None),
+ 'moving_speed': RWRow(name='moving_speed', address=32, size=2, default=None),
+ 'torque_limit': RWRow(name='torque_limit', address=35, size=2, default=None),
+ 'present_position': Row(name='present_position', address=37, size=2, default=None),
+ 'present_speed': Row(name='present_speed', address=39, size=2, default=None),
+ 'present_load': Row(name='present_load', address=41, size=2, default=None),
+ 'present_voltage': Row(name='present_voltage', address=45, size=1, default=None),
+ 'present_temperature': Row(name='present_temperature', address=46, size=1, default=None),
+ 'registered': Row(name='registered', address=47, size=1, default=0),
+ 'moving': Row(name='moving', address=49, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=50, size=1, default=0),
+ 'punch': RWRow(name='punch', address=51, size=2, default=32)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XL_320, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XL_320, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xm430_w210_t_r.py b/dynamixel/model/xm430_w210_t_r.py
index 8fd374f..0106d0f 100644
--- a/dynamixel/model/xm430_w210_t_r.py
+++ b/dynamixel/model/xm430_w210_t_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1030),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=1193),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=330),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XM430_W210_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XM430_W210_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xm430_w350_t_r.py b/dynamixel/model/xm430_w350_t_r.py
index 9c16b6c..4f96f04 100644
--- a/dynamixel/model/xm430_w350_t_r.py
+++ b/dynamixel/model/xm430_w350_t_r.py
@@ -1,67 +1,67 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1020),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=1193),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=200),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XM430_W350_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XM430_W350_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xm540_w150_t_r.py b/dynamixel/model/xm540_w150_t_r.py
index 668d68f..85adab3 100644
--- a/dynamixel/model/xm540_w150_t_r.py
+++ b/dynamixel/model/xm540_w150_t_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1130),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=230),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XM540_W150_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XM540_W150_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xm540_w270_t_r.py b/dynamixel/model/xm540_w270_t_r.py
index 4247363..3856875 100644
--- a/dynamixel/model/xm540_w270_t_r.py
+++ b/dynamixel/model/xm540_w270_t_r.py
@@ -1,69 +1,69 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1120),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=128),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 59)], size=1),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'led': RWRow(name='led', address=65, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'external_port_data': IndirectRow(name='external_port_data', addresses=[range(152, 158, 2)], size=2),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XM540_W270_T_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XM540_W270_T_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xw540_t140_r.py b/dynamixel/model/xw540_t140_r.py
index b54630f..a0fa43e 100644
--- a/dynamixel/model/xw540_t140_r.py
+++ b/dynamixel/model/xw540_t140_r.py
@@ -1,66 +1,66 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1180),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=304),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XW540_T140_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XW540_T140_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/model/xw540_t260_r.py b/dynamixel/model/xw540_t260_r.py
index 3dfb867..b4d92c7 100644
--- a/dynamixel/model/xw540_t260_r.py
+++ b/dynamixel/model/xw540_t260_r.py
@@ -1,66 +1,66 @@
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import Protocol2
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
+ EEPROM = {
+ 'model_number': Row(name='model_number', address=0, size=2, default=1170),
+ 'model_information': Row(name='model_information', address=2, size=4, default=None),
+ 'firmware_version': Row(name='firmware_version', address=6, size=1, default=None),
+ 'id': RWRow(name='id', address=7, size=1, default=1),
+ 'baud_rate': RWRow(name='baud_rate', address=8, size=1, default=1),
+ 'return_delay_time': RWRow(name='return_delay_time', address=9, size=1, default=250),
+ 'drive_mode': RWRow(name='drive_mode', address=10, size=1, default=0),
+ 'operating_mode': RWRow(name='operating_mode', address=11, size=1, default=3),
+ 'secondary_id': RWRow(name='secondary_id', address=12, size=1, default=255),
+ 'protocol_type': RWRow(name='protocol_type', address=13, size=1, default=2),
+ 'homing_offset': RWRow(name='homing_offset', address=20, size=4, default=0),
+ 'moving_threshold': RWRow(name='moving_threshold', address=24, size=4, default=10),
+ 'temperature_limit': RWRow(name='temperature_limit', address=31, size=1, default=80),
+ 'max_voltage_limit': RWRow(name='max_voltage_limit', address=32, size=2, default=160),
+ 'min_voltage_limit': RWRow(name='min_voltage_limit', address=34, size=2, default=95),
+ 'pwm_limit': RWRow(name='pwm_limit', address=36, size=2, default=885),
+ 'current_limit': RWRow(name='current_limit', address=38, size=2, default=2047),
+ 'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=167),
+ 'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=4095),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=0),
+ 'shutdown': RWRow(name='shutdown', address=63, size=1, default=52)
+ }
+ RAM = {
+ 'torque_enable': RWRow(name='torque_enable', address=64, size=1, default=0),
+ 'status_return_level': RWRow(name='status_return_level', address=68, size=1, default=2),
+ 'registered_instruction': Row(name='registered_instruction', address=69, size=1, default=0),
+ 'hardware_error_status': Row(name='hardware_error_status', address=70, size=1, default=0),
+ 'velocity_i_gain': RWRow(name='velocity_i_gain', address=76, size=2, default=1920),
+ 'velocity_p_gain': RWRow(name='velocity_p_gain', address=78, size=2, default=100),
+ 'position_d_gain': RWRow(name='position_d_gain', address=80, size=2, default=0),
+ 'position_i_gain': RWRow(name='position_i_gain', address=82, size=2, default=0),
+ 'position_p_gain': RWRow(name='position_p_gain', address=84, size=2, default=800),
+ 'feedforward_2nd_gain': RWRow(name='feedforward_2nd_gain', address=88, size=2, default=0),
+ 'feedforward_1st_gain': RWRow(name='feedforward_1st_gain', address=90, size=2, default=0),
+ 'bus_watchdog': RWRow(name='bus_watchdog', address=98, size=1, default=0),
+ 'goal_pwm': RWRow(name='goal_pwm', address=100, size=2, default=None),
+ 'goal_current': RWRow(name='goal_current', address=102, size=2, default=None),
+ 'goal_velocity': RWRow(name='goal_velocity', address=104, size=4, default=None),
+ 'profile_acceleration': RWRow(name='profile_acceleration', address=108, size=4, default=0),
+ 'profile_velocity': RWRow(name='profile_velocity', address=112, size=4, default=0),
+ 'goal_position': RWRow(name='goal_position', address=116, size=4, default=None),
+ 'realtime_tick': Row(name='realtime_tick', address=120, size=2, default=None),
+ 'moving': Row(name='moving', address=122, size=1, default=0),
+ 'moving_status': Row(name='moving_status', address=123, size=1, default=0),
+ 'present_pwm': Row(name='present_pwm', address=124, size=2, default=None),
+ 'present_current': Row(name='present_current', address=126, size=2, default=None),
+ 'present_velocity': Row(name='present_velocity', address=128, size=4, default=None),
+ 'present_position': Row(name='present_position', address=132, size=4, default=None),
+ 'velocity_trajectory': Row(name='velocity_trajectory', address=136, size=4, default=None),
+ 'position_trajectory': Row(name='position_trajectory', address=140, size=4, default=None),
+ 'present_input_voltage': Row(name='present_input_voltage', address=144, size=2, default=None),
+ 'present_temperature': Row(name='present_temperature', address=146, size=1, default=None),
+ 'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 224, 2), range(578, 634, 2)], size=2),
+ 'indirect_data': IndirectRow(name='indirect_data', addresses=[range(224, 252), range(634, 662)], size=1)
+ }
+ PROTOCOL = Protocol2
- def __init__(self, id):
- super(XW540_T260_R, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super(XW540_T260_R, self).__init__(channel=channel, id=id)
diff --git a/dynamixel/protocol/Protocol2.py b/dynamixel/protocol/Protocol2.py
deleted file mode 100644
index e4fbcd3..0000000
--- a/dynamixel/protocol/Protocol2.py
+++ /dev/null
@@ -1,2 +0,0 @@
-class Protocol2:
- pass
diff --git a/dynamixel/protocol/__init__.py b/dynamixel/protocol/__init__.py
deleted file mode 100644
index 27f95fa..0000000
--- a/dynamixel/protocol/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-from . import Protocol2
diff --git a/dynamixel/servo/__init__.py b/dynamixel/servo/__init__.py
index ca0b806..3f2700c 100644
--- a/dynamixel/servo/__init__.py
+++ b/dynamixel/servo/__init__.py
@@ -1,13 +1,52 @@
class Servo:
- def __init__(self, id, eeprom, ram, protocol):
+
+ def __init__(self, channel, id):
+ self._channel = channel
self._id = id
- self._control_table = dict(
- [ (r.name, r) for r in eeprom ] +
- [ (r.name, r) for r in ram ]
- )
- self.protocol = protocol
+ self._accessor = {}
+ self._protocol = channel.protocol(self.PROTOCOL)
+ if self.model_number.read() != self.model_number.default:
+ raise Exception("Wrong servo connected")
+ pass
+
+ def __getattr__(self, key):
+ if key in self._accessor:
+ return self._accessor[key]
+ elif key in self.EEPROM:
+ self._accessor[key] = self.EEPROM[key].accessor(self)
+ return self._accessor[key]
+ elif key in self.RAM:
+ self._accessor[key] = self.RAM[key].accessor(self)
+ return self._accessor[key]
+ raise KeyError(key)
+
+ def read(self, row):
+ return self._protocol.read(self, row)
+
+ def write(self, row, value):
+ self._protocol.write(self, row, value)
+ pass
+
+ pass
+
+class Accessor:
+
+ def __init__(self, row, servo):
+ self._row = row
+ self._servo = servo
+ self.default = self._row.default
pass
+ def read(self):
+ return self._servo.read(self._row)
+
+ pass
+
+class RWAccessor(Accessor):
+
+ def write(self, value):
+ return self._servo.write(self._row, value)
+
pass
class Row:
@@ -18,7 +57,21 @@ class Row:
self.size = size
self.default = default
pass
+
+ def accessor(self, servo):
+ return Accessor(self, servo)
+ def __repr__(self):
+ return (f"{self.__class__.__name__}('{self.name}', {self.address}, "
+ f"{self.size}, {self.default})")
+
+ pass
+
+class RWRow(Row):
+
+ def accessor(self, servo):
+ return RWAccessor(self, servo)
+
pass
class IndirectRow:
@@ -26,5 +79,9 @@ class IndirectRow:
self.name = name
self.addresses = addresses
self.size = size
-
+ pass
+
+ def accessor(self, channel):
+ raise Exception("Implement me")
+
pass
diff --git a/three_wheel_example.py b/three_wheel_example.py
new file mode 100755
index 0000000..65de1b3
--- /dev/null
+++ b/three_wheel_example.py
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+
+from dynamixel.model.xm430_w210_t_r import XM430_W210_T_R
+import dynamixel.channel
+import time
+
+if __name__ == '__main__':
+ channel = dynamixel.channel.Channel(speed=1000000)
+ servos = [ XM430_W210_T_R(channel, 1),
+ XM430_W210_T_R(channel, 2),
+ XM430_W210_T_R(channel, 3) ]
+ for s in servos:
+ s.torque_enable.write(0)
+ print(s.model_number.read(), s.id.read())
+ s.operating_mode.write(1)
+ s.bus_watchdog.write(0) # Clear old watchdog error
+ s.bus_watchdog.write(100) # 2 second timeout
+ s.torque_enable.write(1)
+ pass
+ for i in range(331):
+ print(i)
+ for s in servos:
+ s.goal_velocity.write(i)
+ pass
+ print([ s.present_position.read() for s in servos ])
+ time.sleep(0.1)
+ for i in range(330,100,-10):
+ print(i)
+ for s in servos:
+ s.goal_velocity.write(i)
+ pass
+ print([ s.present_position.read() for s in servos ])
+ time.sleep(0.1)
diff --git a/tools/html2desc.py b/tools/html2desc.py
index c9afa6b..15bda5a 100755
--- a/tools/html2desc.py
+++ b/tools/html2desc.py
@@ -174,7 +174,11 @@ def Parse(path):
title = (st.text
.replace('/', '_')
.replace('(', '_')
- .replace(')', ''))
+ .replace(')', '')
+ .replace('+', ''))
+ if m := re.match('^2(.*)$', title):
+ title = f'DUAL-{m.group(1)}'
+ pass
pass
elif st.tag == 'table':
# Only save control tables
@@ -223,7 +227,7 @@ for path in sys.argv[1:]:
pass
yield range(start, current + size, size)
pass
- return (f"IndirectRow(name='{r[1].name}', "
+ return (f"'{r[1].name}': IndirectRow(name='{r[1].name}', "
f"addresses={list(ranges(r))}, "
f"size={r[1].size})")
def expand_row(r):
@@ -231,7 +235,9 @@ for path in sys.argv[1:]:
return expand_indirect_row(r)
pass
else:
- return (f"Row(name='{r.name}', "
+ return (f"'{r.name}': "
+ f"{'W' in r.access and 'RW' or ''}Row("
+ f"name='{r.name}', "
f"address={r.address}, "
f"size={r.size}, default={r.default})")
pass
@@ -244,21 +250,21 @@ for path in sys.argv[1:]:
py_model = model.replace('-', '_')
indent = ',\n '
f.write(f'''
-from dynamixel.servo import Servo, Row, IndirectRow
-import dynamixel.protocol
+from dynamixel.servo import Servo
+from dynamixel.servo import Row, RWRow, IndirectRow
+from dynamixel.channel import {max(protocol)}
class {py_model}(Servo):
- EEPROM = [
+ EEPROM = {{
{indent.join(expand_table(EEPROM[model]))}
- ]
- RAM = [
+ }}
+ RAM = {{
{indent.join(expand_table(RAM[model]))}
- ]
- PROTOCOL = dynamixel.protocol.{max(protocol)}
+ }}
+ PROTOCOL = {max(protocol)}
- def __init__(self, id):
- super({py_model}, self).__init__(
- id=id, eeprom=self.EEPROM, ram=self.RAM, protocol=self.PROTOCOL)
+ def __init__(self, channel, id):
+ super({py_model}, self).__init__(channel=channel, id=id)
''')
pass
pass
--
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