Move Dynamixel servos randomly (to make sure they're working)

test_dynamixels.py

#!/usr/bin/env python

import time
import random
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("-m", "--max-id", dest="max_id", help="Max servo ID",      default="5")
    parser.add_option("-i", "--interval",              help="Movement interval", default="0.5")
    parser.add_option("-t", "--torque",                help="Torque limit",      default="1023")
    parser.add_option("-s", "--speed",                 help="Moving speed",      default="1023")

    (options, args) = parser.parse_args()
    max_id = int(options.max_id)

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

    for s in network.get_dynamixels():
        s.synchronized = True
        s.torque_enable = True
        s.torque_limit = int(options.torque)
        s.moving_speed = int(options.speed)

    try:
        while True:
            pos = random.randrange(0, 1023)
            for s in network.get_dynamixels():
                s.goal_position = pos

            network.synchronize()
            time.sleep(float(options.interval))

    except KeyboardInterrupt:
        pass