Poppy project at La cité des sciences et de l'industrie

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18

Ok so here is an alternative using only pypot to set baudrate to 1Mbaud:

import pypot.dynamixel

COMPORT = 'PORT'
dxl_io = pypot.dynamixel.DxlIO(COMPORT, baudrate=57142.9)
ids = dxl_io.scan()
new_baud = dict(zip(ids, [1000000]*len(ids)))
dxl_io.change_baudrate(new_baud)
dxl_io.close()
dxl_io = pypot.dynamixel.DxlIO(COMPORT, baudrate=1000000)
print dxl_io.scan()

The configuration file for the whole robot can be found on the poppy-software repository.
First you need to install it. The best option would be to clone the repository but it is fine if you just download the last version.

Once you have the poppy-software folder, move it where you want and then install it.
Open a console:


cd path/to/poppy-software
python setup.py develop

Then have just to run the poppy_config_generator.py script after replacing your COM port:

poppy_config['controllers']['lower_body_controller']['port'] = "COM8"
poppy_config['controllers']['upper_body_controller']['port'] = "COM7"


cd path/to/poppy-software
cd poppytools/configuration
python poppy_config_generator.py

It will generate a .json file with the configuration of the whole robot. After that you will able to use it as follow:

import pypot.robot
from poppytools.configuration.config import poppy_config

poppy = pypot.robot.from_config(poppy_config)