{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#Setup a new motor#\n",
    "###This is an alternative to the use of the Herborist software###\n",
    "###Plug only one new motor at a time###"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First scan all available ports."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "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": [
    "From the available ports, select the port where the new motor is pluggued.\n",
    "If the new motor is a XL-320 (using another protocol), set the using_XL320 flag to True."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "my_port = \"/dev/ttyACM1\" #Change this value to match your setup\n",
    "using_XL320 = False      #Change this value to True if you use XL-320 motors"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Select the new ID and the new baudrate you wish for your motor."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "old_id = 1             #Should be 1 if the motor has never been configured\n",
    "new_id = 10            #Change this value\n",
    "\n",
    "old_baudrate = 57600   #Should be 57600 for new MX-28 or MX-64, 1000000 for new AX612A or XL-320\n",
    "new_baudrate = 1000000 #Should be 1000000"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Change the ID, baudrate and set the return time to 0."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "scanning\n",
      "[]\n",
      "no motor found with ID  1  at baudrate  57600  on port  /dev/ttyACM99\n"
     ]
    }
   ],
   "source": [
    "if using_XL320:\n",
    "    dxl_io = pypot.dynamixel.Dxl320IO(my_port, baudrate=old_baudrate)\n",
    "else:\n",
    "    dxl_io = pypot.dynamixel.DxlIO(my_port, baudrate=old_baudrate)\n",
    "        \n",
    "print \"scanning\"\n",
    "found =  dxl_io.scan(range(60))\n",
    "print found\n",
    "\n",
    "if old_id in found:\n",
    "    dxl_io.set_return_delay_time({old_id : 0})\n",
    "    dxl_io.change_id({old_id : new_id})\n",
    "    dxl_io.change_baudrate({new_id : new_baudrate})\n",
    "else:\n",
    "    print \"no motor found with ID \",old_id,\" at baudrate \",old_baudrate, \" on port \",my_port\n",
    "\n",
    "dxl_io.close()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Check that the new motor is detected with its new id and new baudrate."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "scanning\n",
      "[]\n"
     ]
    }
   ],
   "source": [
    "dxl_io = pypot.dynamixel.DxlIO(my_port, baudrate=new_baudrate)\n",
    "print \"scanning\"\n",
    "found =  dxl_io.scan(range(60))\n",
    "print found\n",
    "dxl_io.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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