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--- apisandframeworks:pypot_patches [2017/06/21 10:44] – Pedro Ramilo
+++ apisandframeworks:pypot_patches [2020/02/25 13:45] (current) – Pedro Ramilo
@@ Line 3: / Line 3: @@
 The present document was written targetting PyPot 3.0.3, running under Python 2.7.
-==== Herborist and framework tools ====
+==== Herborist and framework libraries ====
-The Herborist tool provides a GUI for low level manipulation of Dynamixel devices.\\
+The Herborist tool provides a GUI for low-level manipulation of Dynamixel devices.\\
-In many aspects it replaces the Dynamixel Wizard from Robotis.
+In many aspects, it replaces the Dynamixel Wizard from Robotis. Like the Dynamixel Wizard, it needs to be patched so that it "knows" about the Seed Robotics devices.
-Like the Dynamixel Wizard, it needs to be patched so that it "knows" about the Seed Robotics devices. This patching will also assist other High Level functiosn in the framework, so its application is highly recommended.
+This patching will also enable other High-Level functions in the framework to recognize the Seed Robotics model numbers, so its application is highly recommended.
-At the time of writing, Seed Robotics devices identified themselves as model numbers ''400'', ''401'', ''404'', ''405'', ''406''.\\
+At the time of writing, Seed Robotics devices identified themselves as model numbers ''400'', ''401'', ''404'', ''405'', ''406'', ''407'',''408'' and ''409''.\\
-In this document, we will be adding support for these so that PyPot recognizes them. Failing to add support, may result in an error running Herborist (where the GUI stops responding a traceback error appears on the console) or running other parts fo the framework.
+In this document, we will be adding support for these so that PyPot recognizes them.
-Locate ''[your python folder]\lib\site-packages\pypot-3.0.3-py2.7.egg\pypot\dynamixel\conversion.py''
+Failing to add support, may result in an error running Herborist (where the GUI stops responding a traceback error appears on the console). It may also cause errors running other functions in the framework, with errors such as "Keyerror: xxx", where xxx is one of Seed Robotics models numbers.
+Locate the folder where ''pypot'' is installed and edit the ''conversion.py'' script:\\
+This is usually ''[your python folder]\lib\site-packages\pypot-xxxx.egg\pypot\dynamixel\conversion.py''\\ or just ''[your python folder]\lib\site-packages\pypot\dynamixel\conversion.py''
 **Open the file and apply the following changes:**
@@ Line 25: / Line 28: @@
 : 'SR-EROSBRD',
 : 'SR-SEED56',
+: 'SEED_XL320', # Robotis XL-320 operating under Dynamixel 1.0 (protocol version translated by the Seed Robotics EROS Firmware)
+: 'SR-SEED44',
+: 'SR-SEED67',
+: 'SR-SEED58',
 </code>
@@ Line 33: / Line 40: @@
 <code>
     'SR-SEED28':300.,
-    'SR-EROSBRD':300., #compatibility only; this is a board
+    'SR-EROSBRD':300., #compatibility only; this is a logic board
     'SR-SEED56':300.,
+    'SEED_XL320':300., # Robotis XL-320 operating under Dynamixel 1.0 (protocol version translated by the Seed Robotics EROS Firmware)
+    'SR-SEED44':300.,
+    'SR-SEED67':300.,
+    'SR-SEED58':300.,
 </code>
@@ Line 43: / Line 54: @@
 <code>
     'SR-SEED28':0.28, # RH7D
-    'SR-EROSBRD':0.1, #compatibility only; this is a board
+    'SR-EROSBRD':0.1, #compatibility only; this is a logic board
     'SR-SEED56':0.57, # RH4D
+    'SEED_XL320':0.39, # Robotis XL-320 operating under Dynamixel 1.0 (protocol version translated by the Seed Robotics EROS Firmware)
+    'SR-SEED44':0.44,
+    'SR-SEED67':0.67,
+    'SR-SEED58':0.52,
 </code>