rby1_sdk.DynamixelBus¶

class DynamixelBus¶

Bases: pybind11_object

Dynamixel bus communication interface.

This class provides low-level communication with Dynamixel servos including motor control, PID tuning, and status monitoring.

ProtocolVersion¶

Dynamixel protocol version (2.0).

Type:: float

DefaultBaudrate¶

Default communication baudrate (2000000).

Type:: int

AddrTorqueEnable¶

Memory address for torque enable/disable (64).

Type:: int

AddrPresentCurrent¶

Memory address for current reading (126).

Type:: int

AddrPresentVelocity¶

Memory address for velocity reading (128).

Type:: int

AddrPresentPosition¶

Memory address for position reading (132).

Type:: int

AddrGoalCurrent¶

Memory address for current goal setting (102).

Type:: int

AddrGoalPosition¶

Memory address for position goal setting (104).

Type:: int

AddrOperatingMode¶

Memory address for operating mode setting (11).

Type:: int

AddrPresentButtonState¶

Memory address for button state reading (12).

Type:: int

AddrGoalVibrationLevel¶

Memory address for vibration level setting (13).

Type:: int

AddrPositionPGain¶

Memory address for position P gain (80).

Type:: int

AddrPositionIGain¶

Memory address for position I gain (81).

Type:: int

AddrPositionDGain¶

Memory address for position D gain (82).

Type:: int

TorqueEnable¶

Value to enable torque (1).

Type:: int

TorqueDisable¶

Value to disable torque (0).

Type:: int

CurrentControlMode¶

Operating mode for current control (0).

Type:: int

CurrentBasedPositionControlMode¶

Operating mode for current-based position control (5).

Type:: int

AddrCurrentTemperature¶

Memory address for temperature reading (146).

Type:: int

__init__(self: rby1_sdk.DynamixelBus, dev_name: str) → None¶

Construct a DynamixelBus instance.

Parameters:: dev_name (str) – Device name (e.g., “/dev/ttyUSB0” on Linux).

Methods

`__init__`(self, dev_name)	Construct a DynamixelBus instance.
`get_motor_states`(self, ids)	Get motor states for multiple motors.
`get_position_d_gain`(self, id)	Get position D gain for a motor.
`get_position_i_gain`(self, id)	Get position I gain for a motor.
`get_position_p_gain`(self, id)	Get position P gain for a motor.
`get_position_pid_gain`(self, id)	Get position PID gains for a motor.
`group_fast_sync_read`(self, ids, addr, len)	Perform fast synchronous read for multiple motors.
`group_fast_sync_read_encoder`(self, ids)	Perform fast synchronous read of encoder values.
`group_fast_sync_read_operating_mode`(self, ...)	Perform fast synchronous read of operating modes.
`group_fast_sync_read_torque_enable`(self, ids)	Perform fast synchronous read of torque enable states.
`group_sync_write_operating_mode`(self, ...)	Perform synchronous write of operating modes.
`group_sync_write_send_position`(self, ...)	Perform synchronous write of goal positions.
`group_sync_write_send_torque`(self, ...)	Perform synchronous write of torque commands.
`group_sync_write_torque_enable`(args, *kwargs)	Overloaded function.
`open_port`(self)	Open the communication port.
`ping`(self, id)	Ping a motor to check if it's responding.
`read_button_status`(self, arg0)	Read button status from a device.
`read_encoder`(self, id)	Read encoder position for a motor.
`read_operating_mode`(self, id, use_cache)	Read operating mode for a motor.
`read_temperature`(self, id)	Read temperature for a motor.
`read_torque_enable`(self, id)	Read torque enable state for a motor.
`send_current`(self, id, current)	Send current command to a motor.
`send_goal_position`(self, id, goal_position)	Send goal position to a motor.
`send_operating_mode`(self, id, operating_mode)	Send operating mode to a motor.
`send_torque`(self, id, torque)	Send torque command to a motor.
`send_torque_enable`(self, id, onoff)	Enable or disable torque for a motor.
`send_vibration`(self, id, vibration)	Send vibration command to a device.
`set_baud_rate`(self, baudrate)	Set the communication baudrate.
`set_position_d_gain`(self, id, d_gain)	Set position D gain for a motor.
`set_position_i_gain`(self, id, i_gain)	Set position I gain for a motor.
`set_position_p_gain`(self, id, p_gain)	Set position P gain for a motor.
`set_position_pid_gain`(args, *kwargs)	Overloaded function.
`set_torque_constant`(self, torque_constant)	Set torque constants for motors.

Attributes

`AddrCurrentTemperature`
`AddrGoalCurrent`
`AddrGoalPosition`
`AddrGoalVibrationLevel`
`AddrOperatingMode`
`AddrPositionDGain`
`AddrPositionIGain`
`AddrPositionPGain`
`AddrPresentButtonState`
`AddrPresentCurrent`
`AddrPresentPosition`
`AddrPresentVelocity`
`AddrTorqueEnable`
`CurrentBasedPositionControlMode`
`CurrentControlMode`
`DefaultBaudrate`
`ProtocolVersion`
`TorqueDisable`
`TorqueEnable`