feat(dynio): Protocol 2 group I/O, X-series control tables, and motor helpers#4
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smpdl wants to merge 6 commits into
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feat(dynio): Protocol 2 group I/O, X-series control tables, and motor helpers#4smpdl wants to merge 6 commits into
smpdl wants to merge 6 commits into
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…iteadded - added control tables for xc330-m288t, xl430w250t, xm430w350t - added new public functions for reading some essential information from the control table - updated the docs for all the new changes
Added Max_Angle to Values section in JSON.
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Single-register read/write per motor is fine for one actuator, but arms and multi-DOF setups need sync/bulk transactions to keep loop rates reasonable on Protocol 2. So, this PR introduces this change. I kept the existing control-table-by-name style while exposing the Dynamixel SDK group handlers.
This is the list of all new additions:
sync_read/sync_writeandbulk_read/bulk_writefor multi-motor bus transactions (implemented in newdynio/group_io.py).DynamixelCommError: raised on failed group transactions or use ofDynamixelIOwithout an open port (replaces silent failures for those paths).new_xc330m288t,new_xl430w250t, andnew_xm430w350thelpers.get_model_number,get_id,get_baud_rate,get_present_temperature,hardware_error_status);get_currentprefersPresent_Currenton Protocol 2 when available.docs.mdandREADME.mdwith usage examples..gitignoreadded.Backward-compatible for existing single-motor usage; new APIs are only additive.