python_packethandler

• Description

Base functions for packet construction.

• Members

  None

• Methods

Methods	Description
packetHandler	Initializes members of packet data pointer struct
getTxRxResult	Gets communication result
getRxPacketError	Gets hardware error
txPacket	Transmits the packet
rxPacket	Receives the packet
txRxPacket	Transmits and receives the packet
ping	ping DYNAMIXEL
broadcastPing	ping all connected DYNAMIXEL's
action	Commands ‘Run’ the Regwritten
regWrite	Writes the packets and wait for the ‘Action’ command
reboot	Reboots DYNAMIXEL
factoryReset	Resets all DYNAMIXEL settings
readTx	Transmits N byte read instruction packet
readRx	Receives N byte read status packet
readTxRx	Transmits and receives N byte packet
read1ByteTx	Transmits 1 byte read instruction packet
read1ByteRx	Receives 1 byte read status packet
read1ByteTxRx	Transmits and receives 1 byte packet
read2ByteTx	Transmits 2 byte read instruction packet
read2ByteRx	Receives 2 byte read status packet
read2ByteTxRx	Transmits and receives 2 byte packet
read4ByteTx	Transmits 4 byte read instruction packet
read4ByteRx	Receives 4 byte read status packet
read4ByteTxRx	Transmits and receives 4 byte packet
writeTxOnly	Transmits N byte write instruction packet
writeTxRx	Transmits and receives N byte packet
write1ByteTxOnly	Transmits 1 byte write instruction packet
write1ByteTxRx	Transmits and receives 1 byte packet
write2ByteTxOnly	Transmits 2 byte write instruction packet
write2ByteTxRx	Transmits and receives 2 byte packet
write4ByteTxOnly	Transmits 4 byte write instruction packet
write4ByteTxRx	Transmits and receives 4 byte packet
regWriteTxOnly	Transmits register write instruction packet
regWriteTxRx	Transmits and receives register write packet
syncReadTx	Transmits N byte sync read Instruction packet
syncWriteTxOnly	Transmits N byte sync write Instruction packet
bulkReadTx	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly	Transmits N byte bulk write Instruction packet

• Enumerator

Enumerator	Description
DXL_MAKEWORD(a, b)	makes value from a and b to word type
DXL_MAKEDWORD(a, b)	makes value from a and b to dword type
DXL_LOWORD(l)	gets lower word type value from l
DXL_HIWORD(l)	gets higher word type value from l
DXL_LOBYTE(w)	gets lower byte type value from w
DXL_HIBYTE(w)	gets higher byte type value from w
BROADCAST_ID	:= 0xFE Broadcast ID
MAX_ID	:= 0xFC Maximum ID value
INST_PING	:= 1 Instruction value of ping
INST_READ	:= 2 Instruction value of Read
INST_WRITE	:= 3 Instruction value of Write
INST_REG_WRITE	:= 4 Instruction value of Register Write
INST_ACTION	:= 5 Instruction value of Action
INST_FACTORY_RESET	:= 6 Instruction value of Factory Reset
INST_SYNC_WRITE	:= 131 Instruction value of Sync Write
INST_BULK_READ	:= 146 Instruction value of Bulk Read
INST_REBOOT	:= 8 Instruction value of Reboot
INST_STATUS	:= 85 Instruction value of Status
INST_SYNC_READ	:= 130 Instruction value of Sync Read
INST_BULK_WRITE	:= 147 Instruction value of Bulk Write
COMM_SUCCESS	:= 0 Status of Communication Success
COMM_PORT_BUSY	:= -1000 Status of Port in use
COMM_TX_FAIL	:= -1001 Status of Transmit packet failed
COMM_RX_FAIL	:= -1002 Status of Receive packet failed
COMM_TX_ERROR	:= -2000 Status of Transmit packet error
COMM_RX_WAITING	:= -3000 Status of Receive packet waiting
COMM_RX_TIMEOUT	:= -3001 Status of Receive packet timeout
COMM_RX_CORRUPT	:= -3002 Status of Receive packet corrupt
COMM_NOT_AVAILABLE	:= -9000 Status of Unavailable in protocol 1.0

Method References

packetHandler

• Syntax

packetHandler()

• Parameters

  None

• Detailed Description

  This function initializes the parameters for packet construction. The function resizes packetData struct and initialzes struct members.

getTxRxResult

• Syntax

getTxRxResult(result)

• Parameters

Parameters	Description
result	Communication result

• Detailed Description

  This function gets communication result as string type.

getRxPacketError

• Syntax

getRxPacketError(error)

• Parameters

Parameters	Description
error	Hardware error

• Detailed Description

  This function gets hardware error sent by DYNAMIXEL.

txPacket

• Syntax

 txPacket(port, txpacket)

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet byte for sending

• Detailed Description

  The function transmits the packet. The function clears the port by clearPort function at first, and stores data in the txpacket storage of port. The communication result and the hardware error are available when the function is terminated.

rxPacket

• Syntax

void rxPacket(port)

• Parameters

Parameters	Description
port	PortHandler instance

• Detailed Description

  The function repeatedly tries to receive packets from port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

txRxPacket

• Syntax

txRxPacket(port, txpacket)

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet byte for sending

• Detailed Description

  The function stores data for being written into the array for packet transmission and gets data read from rx buffer of #port_num port by txPacket and rxPacket functions. When txPacket function succeeds to communicate, it will continue to rxPacket and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, and BulkWrite, don’t use rxPacket so the function finishes its operation immediately after the 'txPacket2'. Before the rxPacket, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.

ping

• Syntax

ping(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function uses pingGetModelNum without requesting DYNAMIXEL to send its the model number. The communication result and the hardware error are available when the function is terminated.

broadcastPing

• Syntax

broadcastPing(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function finds all connected dynamixels and store their id in the list. The function is unavailable in protocol 1.0.

action

• Syntax

action(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function pulls the trigger of sending txpacket previously set by regWriteTxOnly or regWriteTxRx function, using txRxPacket function. The communication result and the hardware error are available when the function is terminated.

reboot

• Syntax

void reboot(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function constructs the transmission packet with reboot instruction, and starts txRxPacket. The function may perform its role when the DYNAMIXEL stops working caused by hardware error. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

factoryReset

• Syntax

factoryReset(port, dxl_id, option)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
option	Reset option

• Detailed Description

  The function constructs the transmission packet for reset DYNAMIXEL, and starts txRxPacket. The resets targeted DYNAMIXEL's settings to the factory default settings. The option indicates the range of which items on the control table should be reset: 0xFF for resetting all values, 0x01 for resetting all values except ID, 0x02 for resetting all values except ID and Baudrate. The communication result and the hardware error are available when the function is terminated. In protocol 1.0, option is selectable with only full-reset mode 0x00.

readTx

• Syntax

readTx(port, dxl_id, address, length)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

• Detailed Description

  The function constructs the transmission packet with read instruction, and starts txPacket. Then the function calls setPacketTimeout function when packet transmission succeeds. The function can't control more than one DYNAMIXEL at once. The communication result and the hardware error are available when the function is terminated.

readRx

• Syntax

readRx(port, dxl_id, length)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
length	Packet length

• Detailed Description

  The function calls rxPacket2 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx

• Syntax

readTxRx(port, dxl_id, address, length)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

• Detailed Description

  The function calls readTx function and readRx function. readRx function will be called when readTx succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx

• Syntax

read1ByteTx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTx function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx

• Syntax

read1ByteRx(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function calls readRx function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx

• Syntax

read1ByteTxRx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTxRx function to read 1 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read2ByteTx

• Syntax

read2ByteTx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTx function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx

• Syntax

read2ByteRx(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function calls readRx function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx

• Syntax

read2ByteTxRx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTxRx function to read 2 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

read4ByteTx

• Syntax

read4ByteTx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTx function to send 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

read4ByteRx

• Syntax

read4ByteRx(port, dxl_id)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID

• Detailed Description

  The function calls readRx function to receive response packet of 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

read4ByteTxRx

• Syntax

read4ByteTxRx(port, dxl_id, address)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  The function calls readTxRx function to read 4 Byte data from DYNAMIXEL. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

writeTxOnly

• Syntax

writeTxOnly(port, dxl_id, address, length, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	data for sending

• Detailed Description

  The function constructs the transmission packet with write instruction, and starts txPacket. The communication result and the hardware error are available when the function is terminated.

writeTxRx

• Syntax

writeTxRx(port, dxl_id, address, length, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	data for sending

• Detailed Description

  The function constructs the transmission packet with write instruction, and starts txRxPacket. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly

• Syntax

write1ByteTxOnly(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxOnly function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx

• Syntax

write1ByteTxRx(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxRx function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly

• Syntax

write2ByteTxOnly(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxOnly function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx

• Syntax

write2ByteTxRx(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxRx function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly

• Syntax

write4ByteTxOnly(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxOnly function to send 4 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

write4ByteTxRx

• Syntax

write4ByteTxRx(port, dxl_id, address, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	data for sending

• Detailed Description

  The function calls writeTxRx function to send 4 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

regWriteTxOnly

• Syntax

regWriteTxOnly(port, dxl_id, address, length, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	data for sending

• Detailed Description

  The function intends simultaneous control of more than one DYNAMIXEL. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx

• Syntax

regWriteTxRx(port, dxl_id, address, length, data)

• Parameters

Parameters	Description
port	PortHandler instance
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	data for sending

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL's control. The function writes the data without requesting an action of DYNAMIXEL. The DYNAMIXEL works when the trigger action function is executed. The function needs previous setting of the data to write on the DYNAMIXEL. The communication result and the hardware error are available when the function is terminated.

syncReadTx

• Syntax

syndReadTx(port, start_address, data_length, param, param_length)

• Parameters

Parameters	Description
port	PortHandler instance
start_address	Address on the control table of DYNAMIXEL
data_length	Data length
param	Parameter for write
param_length	Parameter length

• Detailed Description

  The function intends simultanoues multiple DYNAMIXEL's control by reading same length of data from the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync read instruction, and starts 'txPacket2'. Then the function calls setPacketTimeout function when txPacket succeeds. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.

syncWriteTxOnly

• Syntax

syncWriteTxOnly(port, start_address, data_length, param, param_length)

• Parameters

Parameters	Description
port	PortHandler instance
start_address	Address on the control table of DYNAMIXEL
data_length	Data length
param	Parameter for write
param_length	Parameter length

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL's control by writing same length of data to the same address on the DYNAMIXEL control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket. The communication result and the hardware error are available when the function is terminated.

bulkReadTx

• Syntax

bulkReadTx(port, param, param_length)

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL's control by writing different length of data to the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket. Then the function calls setPacketTimeout function when txPacket succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly

• Syntax

bulkWriteTxOnly(port, param, param_length)

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  The function intends simultaneous multiple DYNAMIXEL's control by writing different length of data from the different address on the DYNAMIXEL control table. The function constructs the transmission packet with bulk write instruction, and starts TxRxPacket. The communication result and the hardware error are available when the function is terminated. The function is unavailable in protocol 1.0.