Merge pull request #13 from ROBOTIS-GIT/develop

Dynamixel SDK v3.3.1 (Protocol 1.0/2.0)

ReleaseNote.txt

@@ -1,3 +1,13 @@
+==============================================
+    Dynamixel SDK v3.3.1 (Protocol 1.0/2.0)
+==============================================
+
+- 06.30.2016
+
+* SDK Python  Errors in linux debugged
+
+* Solved issue : #3, #8
+
 ==============================================
     Dynamixel SDK v3.3.0 (Protocol 1.0/2.0)
 ==============================================

python/dynamixel_functions_py/dynamixel_functions.py

@@ -4,8 +4,8 @@
 from ctypes import cdll
 dxl_lib = cdll.LoadLibrary("../../c/build/win32/output/dxl_x86_c.dll")  # for windows 32bit
 # dxl_lib = cdll.LoadLibrary("../../c/build/win64/output/dxl_x64_c.dll")  # for windows 64bit
-# dxl_lib = cdll.LoadLibrary("../../c/build/linux32/dxl_x86_c.so")        # for linux 32bit
-# dxl_lib = cdll.LoadLibrary("../../c/build/linux64/dxl_x64_c.so")        # for linux 64bit
+# dxl_lib = cdll.LoadLibrary("../../c/build/linux32/libdxl_x86_c.so")        # for linux 32bit
+# dxl_lib = cdll.LoadLibrary("../../c/build/linux64/libdxl_x64_c.so")        # for linux 64bit
 
 # port_handler
 portHandler = dxl_lib.portHandler

python/protocol1_0/bulk_read.py

@@ -18,10 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
 #
 
-import msvcrt
-import ctypes
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys, ctypes
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_MX_TORQUE_ENABLE       = 24                            # Control table address is different in Dynamixel model
@@ -129,7 +142,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Write Dynamixel#1 goal position

python/protocol1_0/factory_reset.py

@@ -22,10 +22,24 @@
 # This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
 #
 
+import os, sys
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
 from time import sleep
-import msvcrt
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_MX_BAUDRATE            = 4                             # Control table address is different in Dynamixel model

python/protocol1_0/multi_port.py

@@ -18,9 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_MX_TORQUE_ENABLE       = 24                            # Control table address is different in Dynamixel model
@@ -124,7 +138,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Write Dynamixel#1 goal position

python/protocol1_0/ping.py

@@ -18,9 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Protocol version
 PROTOCOL_VERSION            = 1                             # See which protocol version is used in the Dynamixel

python/protocol1_0/read_write.py

@@ -18,9 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as ## ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_MX_TORQUE_ENABLE       = 24                            # Control table address is different in Dynamixel model
@@ -93,7 +107,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Write goal position

python/protocol1_0/sync_write.py

@@ -18,10 +18,23 @@
 # Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import ctypes
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys, ctypes
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_MX_TORQUE_ENABLE       = 24                            # Control table address is different in Dynamixel model
@@ -112,7 +125,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Add Dynamixel#1 goal position value to the Syncwrite storage

python/protocol2_0/broadcast_ping.py

@@ -18,10 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import ctypes
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys, ctypes
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Protocol version
 PROTOCOL_VERSION            = 2                             # See which protocol version is used in the Dynamixel

python/protocol2_0/bulk_read_write.py

@@ -18,10 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 and 2 / Baudnum : 3 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import ctypes
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys, ctypes
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_PRO_TORQUE_ENABLE      = 562                           # Control table address is different in Dynamixel model
@@ -133,7 +146,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Add parameter storage for Dynamixel#1 goal position

python/protocol2_0/factory_reset.py

@@ -22,10 +22,24 @@
 # This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
 #
 
+import os, sys
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
 from time import sleep
-import msvcrt
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address
 ADDR_PRO_BAUDRATE           = 8                             # Control table address is different in Dynamixel model

python/protocol2_0/indirect_address.py

@@ -18,10 +18,23 @@
 # Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
 #
 
-import msvcrt
-import ctypes
-import init_path
-from dynamixel_functions_py import dynamixel_functions as dynamixel                      # Uses Dynamixel SDK library
+import os, sys, ctypes
+
+if os.name == 'nt':
+    import msvcrt
+    def getch():
+        return msvcrt.getch().decode()
+else:
+    import tty, termios
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    tty.setraw(sys.stdin.fileno())
+    def getch():
+        return sys.stdin.read(1)
+
+os.sys.path.append('../dynamixel_functions_py')             # Path setting
+
+import dynamixel_functions as dynamixel                     # Uses Dynamixel SDK library
 
 # Control table address                                     # Control table address is different in Dynamixel model
 ADDR_PRO_INDIRECTADDRESS_FOR_WRITE      = 49                # EEPROM region
@@ -193,7 +206,7 @@
 
 while 1:
     print("Press any key to continue! (or press ESC to quit!)")
-    if msvcrt.getch().decode() == chr(ESC_ASCII_VALUE):
+    if getch() == chr(ESC_ASCII_VALUE):
         break
 
     # Add Dynamixel#1 goal position value to the Syncwrite storage