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).

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.
instruction

The instruction for the Dynamixel actuator to perform.

This member is a read-only property.