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scscl

Bases: protocol_packet_handler

Source code in cogip/scservo_sdk/scscl.py 
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class scscl(protocol_packet_handler):
    def __init__(self, portHandler):
        protocol_packet_handler.__init__(self, portHandler, 1)
        self.groupSyncWrite = GroupSyncWrite(self, SCSCL_GOAL_POSITION_L, 6)

    def WritePos(self, scs_id, position, time, speed):
        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.writeTxRx(scs_id, SCSCL_GOAL_POSITION_L, len(txpacket), txpacket)

    def ReadPos(self, scs_id):
        scs_present_position, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SCSCL_PRESENT_POSITION_L)
        return scs_present_position, scs_comm_result, scs_error

    def ReadSpeed(self, scs_id):
        scs_present_speed, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SCSCL_PRESENT_SPEED_L)
        return self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error

    def ReadPosSpeed(self, scs_id):
        scs_present_position_speed, scs_comm_result, scs_error = self.read4ByteTxRx(scs_id, SCSCL_PRESENT_POSITION_L)
        scs_present_position = self.scs_loword(scs_present_position_speed)
        scs_present_speed = self.scs_hiword(scs_present_position_speed)
        return scs_present_position, self.scs_tohost(scs_present_speed, 15), scs_comm_result, scs_error

    def ReadMoving(self, scs_id):
        moving, scs_comm_result, scs_error = self.read1ByteTxRx(scs_id, SCSCL_MOVING)
        return moving, scs_comm_result, scs_error

    def SyncWritePos(self, scs_id, position, time, speed):
        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.groupSyncWrite.addParam(scs_id, txpacket)

    def RegWritePos(self, scs_id, position, time, speed):
        txpacket = [self.scs_lobyte(position), self.scs_hibyte(position), self.scs_lobyte(time), self.scs_hibyte(time), self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.regWriteTxRx(scs_id, SCSCL_GOAL_POSITION_L, len(txpacket), txpacket)

    def RegAction(self):
        return self.action(BROADCAST_ID)

    def ServoMode(self, scs_id):
        txpacket = [self.scs_lobyte(20), self.scs_hibyte(20)]
        self.writeTxRx(scs_id, SCSCL_MIN_ANGLE_LIMIT_L, len(txpacket), txpacket)
        txpacket = [self.scs_lobyte(1003), self.scs_hibyte(1003)]
        return self.writeTxRx(scs_id, SCSCL_MAX_ANGLE_LIMIT_L, len(txpacket), txpacket)

    def PWMMode(self, scs_id):
        txpacket = [0, 0, 0, 0]
        return self.writeTxRx(scs_id, SCSCL_MIN_ANGLE_LIMIT_L, len(txpacket), txpacket)

    def WritePWM(self, scs_id, time):
        return self.write2ByteTxRx(scs_id, SCSCL_GOAL_TIME_L, self.scs_toscs(time, 10))

    def LockEprom(self, scs_id):
        return self.write1ByteTxRx(scs_id, SCSCL_LOCK, 1)

    def unLockEprom(self, scs_id):
        return self.write1ByteTxRx(scs_id, SCSCL_LOCK, 0)