InstructionPacket module¶
This module contain the InstructionPacket class which implements “instruction packets” (the packets sent by the controller to the Dynamixel actuators to send commands).
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class
pyax12.instruction_packet.
InstructionPacket
(dynamixel_id, instruction, parameters=None)[source]¶ The “instruction packet” is the packet sent by the main controller to the Dynamixel units to send commands.
The structure of the instruction packet is as the following:
0XFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 ... PARAMETER N CHECK SUM Parameters: - dynamixel_id (int) – the the unique ID of the Dynamixel unit which have to execute this instruction packet.
- instruction (int) – the instruction for the Dynamixel actuator to perform.
- parameters (bytes) – a sequence of bytes used if there is additional information needed to be sent other than the instruction itself.
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instruction
¶ The instruction for the Dynamixel actuator to perform.
This member is a read-only property.