from itertools import repeat
from .abstract_io import (AbstractDxlIO, _DxlControl, _DxlAccess,
DxlTimeoutError, DxlCommunicationError)
from .. import conversion as conv
from ..protocol import v2 as v2
[docs]class Dxl320IO(AbstractDxlIO):
_protocol = v2
[docs] def set_wheel_mode(self, ids):
self.set_control_mode(dict(zip(ids, repeat('wheel'))))
[docs] def set_joint_mode(self, ids):
self.set_control_mode(dict(zip(ids, repeat('joint'))))
[docs] def get_goal_position_speed_load(self, ids):
a = self._get_goal_pos_speed(ids)
b = self.get_torque_limit(ids)
return zip(*zip(*a) + [b])
[docs] def set_goal_position_speed_load(self, value_for_ids):
values = zip(*value_for_ids.values())
self._set_goal_pos_speed(dict(zip(value_for_ids.keys(),
zip(*(values[0], values[1])))))
self.set_torque_limit(dict(zip(value_for_ids.keys(), values[2])))
[docs] def factory_reset(self, ids, except_ids=False, except_baudrate_and_ids=False):
""" Reset all motors on the bus to their factory default settings. """
mode = (0x02 if except_baudrate_and_ids else
0x01 if except_ids else 0xFF)
for id in ids:
try:
self._send_packet(self._protocol.DxlResetPacket(id, mode))
except (DxlTimeoutError, DxlCommunicationError):
pass
# TODO:
# * error
# MARK: - Generate the accessors
controls = {
# EEPROM
'model': {
'address': 0x00,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_model
},
'firmware': {
'address': 0x02,
'length': 1,
'access': _DxlAccess.readonly
},
'id': {
'address': 0x03,
'length': 1,
'access': _DxlAccess.writeonly,
'setter_name': 'change_id'
},
'baudrate': {
'address': 0x04,
'length': 1,
'access': _DxlAccess.writeonly,
'setter_name': 'change_baudrate',
'si_to_dxl': conv.baudrate_to_dxl
},
'return delay time': {
'address': 0x05,
'length': 1,
'dxl_to_si': conv.dxl_to_rdt,
'si_to_dxl': conv.rdt_to_dxl
},
'angle limit': {
'address': 0x06,
'nb_elem': 2,
'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
conv.dxl_to_degree(value[1], model)),
'si_to_dxl': lambda value, model: (conv.degree_to_dxl(value[0], model),
conv.degree_to_dxl(value[1], model))
},
'control mode': {
'address': 0x0B,
'length': 1,
'dxl_to_si': conv.dxl_to_control_mode,
'si_to_dxl': conv.control_mode_to_dxl,
},
'highest temperature limit': {
'address': 0x0C,
'length': 1,
'dxl_to_si': conv.dxl_to_temperature,
'si_to_dxl': conv.temperature_to_dxl
},
'voltage limit': {
'address': 0x0D,
'length': 1,
'nb_elem': 2,
'dxl_to_si': lambda value, model: (conv.dxl_to_voltage(value[0], model),
conv.dxl_to_voltage(value[1], model)),
'si_to_dxl': lambda value, model: (conv.voltage_to_dxl(value[0], model),
conv.voltage_to_dxl(value[1], model))
},
'max torque': {
'address': 0x0F,
'dxl_to_si': conv.dxl_to_torque,
'si_to_dxl': conv.torque_to_dxl
},
'status return level': {
'address': 0x11,
'length': 1,
'dxl_to_si': conv.dxl_to_status,
'si_to_dxl': conv.status_to_dxl
},
'alarm shutdown': {
'address': 0x12,
'length': 1,
'dxl_to_si': conv.dxl_to_alarm,
'si_to_dxl': conv.alarm_to_dxl
},
# RAM
'torque_enable': {
'address': 0x18,
'length': 1,
'dxl_to_si': conv.dxl_to_bool,
'si_to_dxl': conv.bool_to_dxl,
'getter_name': 'is_torque_enabled',
'setter_name': '_set_torque_enable'
},
'LED': {
'address': 0x19,
'length': 1,
'dxl_to_si': conv.dxl_to_bool,
'si_to_dxl': conv.bool_to_dxl,
'setter_name': '_set_LED',
'getter_name': 'is_led_on'
},
'LED color': {
'address': 0x19,
'length': 1,
'dxl_to_si': conv.dxl_to_led_color,
'si_to_dxl': conv.led_color_to_dxl,
},
'pid gain': {
'address': 0x1B,
'length': 1,
'nb_elem': 3,
'dxl_to_si': conv.dxl_to_pid,
'si_to_dxl': conv.pid_to_dxl
},
'goal position': {
'address': 0x1E,
'dxl_to_si': conv.dxl_to_degree,
'si_to_dxl': conv.degree_to_dxl
},
'moving speed': {
'address': 0x20,
'dxl_to_si': conv.dxl_to_speed,
'si_to_dxl': conv.speed_to_dxl
},
'torque limit': {
'address': 0x23,
'dxl_to_si': conv.dxl_to_torque,
'si_to_dxl': conv.torque_to_dxl
},
'goal position speed': {
'address': 0x1E,
'nb_elem': 2,
'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
conv.dxl_to_speed(value[1], model)),
'si_to_dxl': lambda value, model: (conv.degree_to_dxl(value[0], model),
conv.speed_to_dxl(value[1], model)),
'getter_name': '_get_goal_pos_speed',
'setter_name': '_set_goal_pos_speed'
},
'present position': {
'address': 0x25,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_degree
},
'present speed': {
'address': 0x27,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_speed
},
'present load': {
'address': 0x29,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_load
},
'present position speed load': {
'address': 0x25,
'nb_elem': 3,
'access': _DxlAccess.readonly,
'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
conv.dxl_to_speed(value[1], model),
conv.dxl_to_load(value[2], model))
},
'present voltage': {
'address': 0x2D,
'length': 1,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_voltage
},
'present temperature': {
'address': 0x2E,
'length': 1,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_temperature
},
'moving': {
'address': 0x31,
'length': 1,
'access': _DxlAccess.readonly,
'dxl_to_si': conv.dxl_to_bool,
'getter_name': 'is_moving'
}
}
def _add_control(name,
address, length=2, nb_elem=1,
access=_DxlAccess.readwrite,
models=['XL-320', ],
dxl_to_si=lambda val, model: val,
si_to_dxl=lambda val, model: val,
getter_name=None,
setter_name=None):
control = _DxlControl(name,
address, length, nb_elem,
access,
models,
dxl_to_si, si_to_dxl,
getter_name, setter_name)
Dxl320IO._generate_accessors(control)
for name, args in controls.items():
_add_control(name, **args)
