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sms_sts

Bases: protocol_packet_handler

Source code in cogip/scservo_sdk/sms_sts.py 
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class sms_sts(protocol_packet_handler):
    def __init__(self, portHandler):
        protocol_packet_handler.__init__(self, portHandler, 0)
        self.groupSyncWrite = GroupSyncWrite(self, SMS_STS_ACC, 7)

    def WritePosEx(self, scs_id, position, speed, acc):
        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.writeTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)

    def ReadPos(self, scs_id):
        scs_present_position, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_PRESENT_POSITION_L)
        return self.scs_tohost(scs_present_position, 15), scs_comm_result, scs_error

    def ReadSpeed(self, scs_id):
        scs_present_speed, scs_comm_result, scs_error = self.read2ByteTxRx(scs_id, SMS_STS_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, SMS_STS_PRESENT_POSITION_L)
        scs_present_position = self.scs_loword(scs_present_position_speed)
        scs_present_speed = self.scs_hiword(scs_present_position_speed)
        return self.scs_tohost(scs_present_position, 15), 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, SMS_STS_MOVING)
        return moving, scs_comm_result, scs_error

    def SyncWritePosEx(self, scs_id, position, speed, acc):
        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.groupSyncWrite.addParam(scs_id, txpacket)

    def RegWritePosEx(self, scs_id, position, speed, acc):
        txpacket = [acc, self.scs_lobyte(position), self.scs_hibyte(position), 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.regWriteTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)

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

    def WheelMode(self, scs_id):
        return self.write1ByteTxRx(scs_id, SMS_STS_MODE, 1)

    def WriteSpec(self, scs_id, speed, acc):
        speed = self.scs_toscs(speed, 15)
        txpacket = [acc, 0, 0, 0, 0, self.scs_lobyte(speed), self.scs_hibyte(speed)]
        return self.writeTxRx(scs_id, SMS_STS_ACC, len(txpacket), txpacket)

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

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