{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Motors scan\n",
    "## Scan all ports to find the connected Dynamixel motors"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "ports found ['/dev/ttyACM99']\n"
     ]
    }
   ],
   "source": [
    "import pypot.dynamixel\n",
    "\n",
    "ports = pypot.dynamixel.get_available_ports()\n",
    "if not ports:\n",
    "    raise IOError('no port found!')\n",
    "print 'ports found', ports"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Protocol is not the same for XL320 servomotors, set the using_XL320 flag to True if you use them.\n",
    "Set my_baudrate to the baudrate you are using (1000000 for motors already configured, 57600 for new ones)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "using_XL320 = False\n",
    "my_baudrate = 1000000"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If the code below gives you an exception, try to restart all other notebooks that may be running, wait 5 seconds and try again."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false,
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "/dev/ttyACM99\n",
      "scanning\n",
      "[]\n"
     ]
    }
   ],
   "source": [
    "for port in ports:\n",
    "    print port\n",
    "    try:\n",
    "        if using_XL320:\n",
    "            dxl_io = pypot.dynamixel.Dxl320IO(port, baudrate=my_baudrate)\n",
    "        else:\n",
    "            dxl_io = pypot.dynamixel.DxlIO(port, baudrate=my_baudrate)\n",
    "        \n",
    "        print \"scanning\"\n",
    "        found =  dxl_io.scan(range(60))\n",
    "        print found\n",
    "        dxl_io.close()\n",
    "    except Exception, e:\n",
    "        print e"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "![motor naming convention](./img/motor_naming_convention.jpg)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Kill whoever uses the ports (should be used only as last chance try to free the ports)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import os\n",
    "for port in ports:\n",
    "    os.system('fuser -k '+port);"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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