unixification of code and somes fixes

.gitignore

@@ -1 +1,4 @@
-*.pyc
+*.pyc
+build
+dist
+dynamixel.egg-info

License.txt

@@ -1,12 +1,12 @@
-This is a Python version of the ForestMoon Dynamixel library originally written in C# by Scott Ferguson.
-
-The Python version was created by Patrick Goebel (mailto:[email protected]) for the Pi Robot Project which
-lives at http://www.pirobot.org.
-
-The original license for the C# version is as follows:
-
-This software was written and developed by Scott Ferguson.
-The current version can be found at http://www.forestmoon.com/Software/.
-This free software is distributed under the GNU General Public License.
-See http://www.gnu.org/licenses/gpl.html for details.
-This license restricts your usage of the software in derivative works.
+This is a Python version of the ForestMoon Dynamixel library originally written in C# by Scott Ferguson.
+
+The Python version was created by Patrick Goebel (mailto:[email protected]) for the Pi Robot Project which
+lives at http://www.pirobot.org.
+
+The original license for the C# version is as follows:
+
+This software was written and developed by Scott Ferguson.
+The current version can be found at http://www.forestmoon.com/Software/.
+This free software is distributed under the GNU General Public License.
+See http://www.gnu.org/licenses/gpl.html for details.
+This license restricts your usage of the software in derivative works.

dynamixel/__init__.py

@@ -1,27 +1,27 @@
-#!/usr/bin/env python
-
-"""
-
-// This software was written and developed by Scott Ferguson.
-// The current version can be found at http://www.forestmoon.com/Software/.
-// Comments and suggestions are encouraged and can be sent to mailto:[email protected]?subject=Software.
-// This free software is distributed under the GNU General Public License.
-// See http://www.gnu.org/licenses/gpl.html for details.
-// This license restricts your usage of the software in derivative works.
-
-The original C# version of this software was converted to Python on behalf of the
-Pi Robot Project at http://www.pirobot.org
-
-"""
-
-"""
-Dynamixel AX-12+ Module
-"""
-__version__ =  '1.0.1'
-
-from dynamixel import Dynamixel
-from dynamixel_network import DynamixelNetwork
-from echo_stream import EchoStream
-from serial_stream import SerialStream
-from defs import ERROR_STATUS, BAUD_RATE, REGISTER, INSTRUCTION, \
-                 STATUS_RETURN_LEVEL
+#!/usr/bin/env python
+
+"""
+
+// This software was written and developed by Scott Ferguson.
+// The current version can be found at http://www.forestmoon.com/Software/.
+// Comments and suggestions are encouraged and can be sent to mailto:[email protected]?subject=Software.
+// This free software is distributed under the GNU General Public License.
+// See http://www.gnu.org/licenses/gpl.html for details.
+// This license restricts your usage of the software in derivative works.
+
+The original C# version of this software was converted to Python on behalf of the
+Pi Robot Project at http://www.pirobot.org
+
+"""
+
+"""
+Dynamixel AX-12+ Module
+"""
+__version__ =  '1.0.1'
+
+from dynamixel import Dynamixel
+from dynamixel_network import DynamixelNetwork
+from echo_stream import EchoStream
+from serial_stream import SerialStream
+from defs import ERROR_STATUS, BAUD_RATE, REGISTER, INSTRUCTION, \
+                 STATUS_RETURN_LEVEL

dynamixel/defs.py

@@ -1,99 +1,99 @@
-#!/usr/bin/env python2.6
-
-"""
-This is a Python version of the ForestMoon Dynamixel library originally
-written in C# by Scott Ferguson.
-
-The Python version was created by Patrick Goebel (mailto:[email protected])
-for the Pi Robot Project which lives at http://www.pirobot.org.
-
-The original license for the C# version is as follows:
-
-This software was written and developed by Scott Ferguson.
-The current version can be found at http://www.forestmoon.com/Software/.
-This free software is distributed under the GNU General Public License.
-See http://www.gnu.org/licenses/gpl.html for details.
-This license restricts your usage of the software in derivative works.
-
-* * * * * 
-
-Module wide definitions
-
-"""
-
-import enumeration
-
-ERROR_STATUS = enumeration.Enumeration( [
-        ('None',0x0,"None"),
-        ('InputVoltage', 0x1, "Input Voltage Error"),
-        ('AngleLimit', 0x2, "Angle Limit Error"),
-        ('Overheating', 0x4, "Overheating Error"),
-        ('Range', 0x8,"Range Error"),
-        ('Checksum', 0x10,"Checksum Error"),
-        ('Overload', 0x20,"Overload Error"),
-        ('Instruction', 0x40,"Instruction Error" ) ] )
-
-BAUD_RATE = enumeration.Enumeration( [
-        ('Baud_1000000', 1),
-        ('Baud_500000', 3),
-        ('Baud_400000', 4),
-        ('Baud_250000', 7),
-        ('Baud_200000', 9),
-        ('Baud_115200', 0x10),
-        ('Baud_57600', 0x22),
-        ('Baud_19200', 0x67),
-        ('Baud_9600', 0xcf)
-        ])
-
-REGISTER = enumeration.Enumeration( [
-   ('ModelNumber',  0, "Model Number"),
-   ('FirmwareVersion',  2, "Firmware Version"),
-   ('Id', 3, "Id"),
-   ('BaudRate',  4, "Baud Rate"),
-   ('ReturnDelay',  5, "Return Delay"),
-   ('CWAngleLimit',  6, "CW Angle Limit"),
-   ('CCWAngleLimit',  8, "CCW Angle Limit"),
-   ('TemperatureLimit',  11, "Temperature Limit"),
-   ('LowVoltageLimit',  12, "Low Voltage Limit"),
-   ('HighVoltageLimit',  13, "High Voltage Limit"),
-   ('MaxTorque',  14, "Max Torque"),
-   ('StatusReturnLevel',  16, "Status Return Level"),
-   ('AlarmLED',  17, "Alarm Led"),
-   ('AlarmShutdown',  18, "Alarm Shutdown"),
-   ('DownCalibration',  20, "Down Calibration"),
-   ('UpCalibration',  22, "Up Calibration"),
-   ('TorqueEnable',  24, "Torque Enable"),
-   ('LED',  25, "LED"),
-   ('CWComplianceMargin',  26, "CW Compliance Margin"),
-   ('CCWComplianceMargin',  27, "CCW Compliance Margin"),
-   ('CWComplianceSlope',  28, "CW Compliance Slope"),
-   ('CCWComplianceSlope',  29, "CCW Compliance Slope"),
-   ('GoalPosition', 30, "Goal Position"),
-   ('MovingSpeed', 32, "Moving Speed"),
-   ('TorqueLimit',  34, "Torque Limit"),
-   ('CurrentPosition',  36, "Current Position"),
-   ('CurrentSpeed',  38, "Current Speed"),
-   ('CurrentLoad',  40, "Current Load"),
-   ('CurrentVoltage',  42, "Current Voltage"),
-   ('CurrentTemperature',  43, "Current Temperature"),
-   ('RegisteredInstruction',  44, "Registered Instruction"),
-   ('Moving',  46, "Moving"),
-   ('Lock',  47, "Lock"),
-   ('Punch',  48, "Punch" )])
-
-STATUS_RETURN_LEVEL = enumeration.Enumeration( [
-       ('NoResponse', 0),
-       ('RespondToReadData', 1),
-       ('RespondToAll', 2 )])
-
-INSTRUCTION = enumeration.Enumeration( [
-       ('Ping', 1, "Respond only with a status packet."),
-       ('ReadData', 2, "Read register data."),
-       ('WriteData', 3, "Write register data."),
-       ('RegWrite', 4, "Delay writing register data until an Action \
-instruction is received."),
-       ('Action', 5, "Perform pending RegWrite instructions."),
-       ('Reset', 6, "Reset all registers (including ID) to default values."),
-       ('SyncWrite',  0x83, "Write register data to multiple \
-Dynamixels at once. ") 
-       ] )
+#!/usr/bin/env python2.6
+
+"""
+This is a Python version of the ForestMoon Dynamixel library originally
+written in C# by Scott Ferguson.
+
+The Python version was created by Patrick Goebel (mailto:[email protected])
+for the Pi Robot Project which lives at http://www.pirobot.org.
+
+The original license for the C# version is as follows:
+
+This software was written and developed by Scott Ferguson.
+The current version can be found at http://www.forestmoon.com/Software/.
+This free software is distributed under the GNU General Public License.
+See http://www.gnu.org/licenses/gpl.html for details.
+This license restricts your usage of the software in derivative works.
+
+* * * * * 
+
+Module wide definitions
+
+"""
+
+import enumeration
+
+ERROR_STATUS = enumeration.Enumeration( [
+        ('None',0x0,"None"),
+        ('InputVoltage', 0x1, "Input Voltage Error"),
+        ('AngleLimit', 0x2, "Angle Limit Error"),
+        ('Overheating', 0x4, "Overheating Error"),
+        ('Range', 0x8,"Range Error"),
+        ('Checksum', 0x10,"Checksum Error"),
+        ('Overload', 0x20,"Overload Error"),
+        ('Instruction', 0x40,"Instruction Error" ) ] )
+
+BAUD_RATE = enumeration.Enumeration( [
+        ('Baud_1000000', 1),
+        ('Baud_500000', 3),
+        ('Baud_400000', 4),
+        ('Baud_250000', 7),
+        ('Baud_200000', 9),
+        ('Baud_115200', 0x10),
+        ('Baud_57600', 0x22),
+        ('Baud_19200', 0x67),
+        ('Baud_9600', 0xcf)
+        ])
+
+REGISTER = enumeration.Enumeration( [
+   ('ModelNumber',  0, "Model Number"),
+   ('FirmwareVersion',  2, "Firmware Version"),
+   ('Id', 3, "Id"),
+   ('BaudRate',  4, "Baud Rate"),
+   ('ReturnDelay',  5, "Return Delay"),
+   ('CWAngleLimit',  6, "CW Angle Limit"),
+   ('CCWAngleLimit',  8, "CCW Angle Limit"),
+   ('TemperatureLimit',  11, "Temperature Limit"),
+   ('LowVoltageLimit',  12, "Low Voltage Limit"),
+   ('HighVoltageLimit',  13, "High Voltage Limit"),
+   ('MaxTorque',  14, "Max Torque"),
+   ('StatusReturnLevel',  16, "Status Return Level"),
+   ('AlarmLED',  17, "Alarm Led"),
+   ('AlarmShutdown',  18, "Alarm Shutdown"),
+   ('DownCalibration',  20, "Down Calibration"),
+   ('UpCalibration',  22, "Up Calibration"),
+   ('TorqueEnable',  24, "Torque Enable"),
+   ('LED',  25, "LED"),
+   ('CWComplianceMargin',  26, "CW Compliance Margin"),
+   ('CCWComplianceMargin',  27, "CCW Compliance Margin"),
+   ('CWComplianceSlope',  28, "CW Compliance Slope"),
+   ('CCWComplianceSlope',  29, "CCW Compliance Slope"),
+   ('GoalPosition', 30, "Goal Position"),
+   ('MovingSpeed', 32, "Moving Speed"),
+   ('TorqueLimit',  34, "Torque Limit"),
+   ('CurrentPosition',  36, "Current Position"),
+   ('CurrentSpeed',  38, "Current Speed"),
+   ('CurrentLoad',  40, "Current Load"),
+   ('CurrentVoltage',  42, "Current Voltage"),
+   ('CurrentTemperature',  43, "Current Temperature"),
+   ('RegisteredInstruction',  44, "Registered Instruction"),
+   ('Moving',  46, "Moving"),
+   ('Lock',  47, "Lock"),
+   ('Punch',  48, "Punch" )])
+
+STATUS_RETURN_LEVEL = enumeration.Enumeration( [
+       ('NoResponse', 0),
+       ('RespondToReadData', 1),
+       ('RespondToAll', 2 )])
+
+INSTRUCTION = enumeration.Enumeration( [
+       ('Ping', 1, "Respond only with a status packet."),
+       ('ReadData', 2, "Read register data."),
+       ('WriteData', 3, "Write register data."),
+       ('RegWrite', 4, "Delay writing register data until an Action \
+instruction is received."),
+       ('Action', 5, "Perform pending RegWrite instructions."),
+       ('Reset', 6, "Reset all registers (including ID) to default values."),
+       ('SyncWrite',  0x83, "Write register data to multiple \
+Dynamixels at once. ") 
+       ] )