>>> libc.dxl_set_txpacket_id(254)
2226430
>>> libc.dxl_set_txpacket_instruction(131)
2226307
>>> libc.dxl_set_txpacket_parameter(0, 30)
2225950
>>> libc.dxl_set_txpacket_parameter(1, 10)
2225930
>>> libc.dxl_set_txpacket_parameter(2, 2)
2225922
>>> libc.dxl_set_txpacket_parameter(3, 30)
2225950
>>> libc.dxl_set_txpacket_parameter(4, 200)
2226120
>>> libc.dxl_set_txpacket_parameter(5, 3)
2225923
>>> libc.dxl_set_txpacket_parameter(6, 30)
2225950
>>> libc.dxl_set_txpacket_parameter(7, 511)
2226175
>>> libc.dxl_tx_packet()
1

Parameter1 Starting address of the location where the data is to be written
Parameter2 The length of the data to be written (L)

Statistics: Posted by Siel — Mon Sep 29, 2008 2:34 pm

>>> from ctypes import *
>>> libc = windll.dynamixel
>>> libc.dxl_initialize()
1

#id is 2
>>> libc.dxl_set_txpacket_id(2)
2226178

# I hope that 3 is INST_WRITE, readed on the example at the end of the manual...
>>> libc.dxl_set_txpacket_instruction(3)
2226179

# write on register 30 goal position
>>> libc.dxl_set_txpacket_parameter(0, 30)
2225950

# Reach the position 200
>>> libc.dxl_set_txpacket_parameter(1, 200)
2226120

# length...?
>>> libc.dxl_set_txpacket_length(4)
2226180

>>> libc.dxl_tx_packet()
1

--> Nothing happen
Servo was tested before on Dynamixel Manager...

Statistics: Posted by Siel — Mon Sep 29, 2008 10:42 am

Code:

(in python call dxl_set_txpacket_instruction() for each of the following lines):
gbInstructionPacket[ID] = 3; // ID is 3
gbInstructionPacket[INSTRUCTION] = 3; // Instruction Code is 3
gbInstructionPacket[PARAMETER] = 10; // Parameter 1 is 10
gbInstructionPacket[PARAMETER+1] = 20; // Parameter 2 is 20
gbInstructionPacket[PARAMETER+2] = 30; // Parameter 3 is 30
gbInstructionPacket[LENGTH] = 3+2; // Length is Parameter number + 2
dxl_tx_packet( );

Statistics: Posted by limor — Sat Sep 27, 2008 6:17 pm

Statistics: Posted by Siel — Fri Sep 26, 2008 2:22 pm