Change a the ID of a Dynamixel servo

change_dynamixel_id.py

#!/usr/bin/env python

import sys
import time
import optparse
import dynamixel

if __name__ == "__main__":
    parser = optparse.OptionParser()
    parser.add_option("-p", "--port",                  help="Serial port",  default="/dev/tty.usbserial-A9ITPZVR")
    parser.add_option("-b", "--baud",                  help="Baud rate",    default="1000000")
    parser.add_option("-o", "--old-id", dest="old_id", help="Old servo ID", default="1")
    parser.add_option("-n", "--new-id", dest="new_id", help="New servo ID", default="1")
    (options, args) = parser.parse_args()

    old_id = int(options.old_id)
    new_id = int(options.new_id)

    serial = dynamixel.SerialStream(port=options.port, baudrate=options.baud, timeout=1)
    network = dynamixel.DynamixelNetwork(serial)
    network.scan(old_id, old_id) # wat

    servo = network[old_id]
    if servo:
        servo.id = new_id
        print "Changed Dynamixel #%s to #%s" % (old_id, new_id)

    else:
        print "No such Dynamixel: #%s" % old_id
        sys.exit(1)

just for personal note, this code appears to be written for the ros framework, not the dynamixel sdk. thank you for the contribution <3

wrote a different version that uses dynamixel python sdk over here:

https://gist.github.com/cyphunk/0593502bf86932a18fc042609be3f7bc