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reg.py
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protocol1 = {
'Alarm LED': [17, 1],
'Baud Rate': [4, 1],
'CCW Angle Limit': [8, 2],
'CW Angle Limit': [6, 2],
'Firmware Version': [2, 1],
'ID': [3, 1],
'Max Torque': [14, 2],
'Max Voltage Limit': [13, 1],
'Min Voltage Limit': [12, 1],
'Model Number': [0, 2],
'Return Delay Time': [5, 1],
'Shutdown': [18, 1],
'Status Return Level': [16, 1],
'Temperature Limit': [11, 1],
'CCW Compliance Margin': [27, 1],
'CCW Compliance Slope': [29, 1],
'CW Compliance Margin': [26, 1],
'CW Compliance Slope': [28, 1],
'Goal Position': [30, 2],
'LED': [25, 1],
'Lock': [47, 1],
'Moving': [46, 1],
'Moving Speed': [32, 2],
'Present Load': [40, 2],
'Present Position': [36, 2],
'Present Speed': [38, 2],
'Present Temperature': [43, 1],
'Present Voltage': [42, 1],
'Punch': [48, 2],
'Registered': [44, 1],
'Torque Enable': [24, 1],
'Torque Limit': [34, 2]
}
protocol2 = {
'Acceleration Limit': [40, 4],
'Baud Rate': [8, 1],
'Current Limit': [38, 2],
'Drive Mode': [10, 1],
'Firmware Version': [6, 1],
'Homing Offset': [20, 4],
'ID': [7, 1],
'Max Position Limit': [48, 4],
'Max Voltage Limit': [32, 2],
'Min Position Limit': [52, 4],
'Min Voltage Limit': [34, 2],
'Model Information': [2, 4],
'Model Number': [0, 2],
'Moving Threshold': [24, 4],
'Operating Mode': [11, 1],
'PWM Limit': [36, 2],
'Protocol Version': [13, 1],
'Return Delay Time': [9, 1],
'Secondary(Shadow) ID': [12, 1],
'Shutdown': [63, 1],
'Temperature Limit': [31, 1],
'Velocity Limit': [44, 4],
'BUS Watchdog': ['98', '1'],
'Feedforward 1st Gain': ['90', '2'],
'Feedforward 2nd Gain': ['88', '2'],
'Goal Current': ['102', '2'],
'Goal PWM': ['100', '2'],
'Goal Position': ['116', '4'],
'Goal Velocity': ['104', '4'],
'Hardware Error Status': ['70', '1'],
'LED': ['65', '1'],
'Moving': ['122', '1'],
'Moving Status': ['123', '1'],
'Position D Gain': ['80', '2'],
'Position I Gain': ['82', '2'],
'Position P Gain': ['84', '2'],
'Position Trajectory': ['140', '4'],
'Present Current': ['126', '2'],
'Present Input Voltage': ['144', '2'],
'Present PWM': ['124', '2'],
'Present Position': ['132', '4'],
'Present Temperature': ['146', '1'],
'Present Velocity': ['128', '4'],
'Profile Acceleration': ['108', '4'],
'Profile Velocity': ['112', '4'],
'Realtime Tick': ['120', '2'],
'Registered Instruction': ['69', '1'],
'Status Return Level': ['68', '1'],
'Torque Enable': ['64', '1'],
'Velocity I Gain': ['76', '2'],
'Velocity P Gain': ['78', '2'],
'Velocity Trajectory': ['136', '4']
}
protocol1_mx = {
'Alarm LED': [17, 1],
'Baud Rate': [4, 1],
'CCW Angle Limit': [8, 2],
'CW Angle Limit': [6, 2],
'Firmware Version': [2, 1],
'ID': [3, 1],
'Max Torque': [14, 2],
'Max Voltage Limit': [13, 1],
'Min Voltage Limit': [12, 1],
'Model Number': [0, 2],
'Multi Turn Offset': [20, 2],
'Resolution Divider': [22, 1],
'Return Delay Time': [5, 1],
'Shutdown': [18, 1],
'Status Return Level': [16, 1],
'Temperature Limit': [11, 1],
'Current': [68, 2],
'D Gain': [26, 1],
'Goal Acceleration': [73, 1],
'Goal Position': [30, 2],
'Goal Torque': [71, 2],
'I Gain': [27, 1],
'LED': [25, 1],
'Lock': [47, 1],
'Moving': [46, 1],
'Moving Speed': [32, 2],
'P Gain': [28, 1],
'Present Load': [40, 2],
'Present Position': [36, 2],
'Present Speed': [38, 2],
'Present Temperature': [43, 1],
'Present Voltage': [42, 1],
'Punch': [48, 2],
'Realtime Tick': [50, 2],
'Registered': [44, 1],
'Torque Ctrl Mode Enable': [70, 1],
'Torque Enable': [24, 1],
'Torque Limit': [34, 2]
}