apisandframeworks:pypot_patches

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apisandframeworks:pypot_patches [2017/06/01 20:27] Pedro Ramiloapisandframeworks:pypot_patches [2020/02/25 13:45] (current) Pedro Ramilo
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 The present document was written targetting PyPot 3.0.3, running under Python 2.7. The present document was written targetting PyPot 3.0.3, running under Python 2.7.
  
-==== Herborist tool ====+==== 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 aspectsit 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 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 in Herborist. Failing to add support, may result in an error running Herborist (where the GUI stops responding a traceback error appears on the console).+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:** **Open the file and apply the following changes:**
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     405: 'SR-EROSBRD',     405: 'SR-EROSBRD',
     406: 'SR-SEED56',     406: 'SR-SEED56',
 +    407: 'SEED_XL320', # Robotis XL-320 operating under Dynamixel 1.0 (protocol version translated by the Seed Robotics EROS Firmware)
 +    408: 'SR-SEED44', 
 +    409: 'SR-SEED67', 
 +    410: 'SR-SEED58',
 </code> </code>
  
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 <code> <code>
     'SR-SEED28':300.,     '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.,     '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> </code>
  
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 <code> <code>
     'SR-SEED28':0.28, # RH7D     '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     '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> </code>
  

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  • apisandframeworks/pypot_patches.1496348837.txt.gz
  • Last modified: 2017/06/01 20:27
  • by Pedro Ramilo