#!/usr/bin/env python
# coding: utf-8

# ### Motors scan
# ## Scan all ports to find the connected Dynamixel motors

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import pypot.dynamixel

ports = pypot.dynamixel.get_available_ports()
if not ports:
    raise IOError('no port found!')
print 'ports found', ports


# Protocol is not the same for XL320 servomotors, set the using_XL320 flag to True if you use them.
# Set my_baudrate to the baudrate you are using (1000000 for motors already configured, 57600 for new ones).

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using_XL320 = False
my_baudrate = 1000000


# If the code below gives you an exception, try to restart all other notebooks that may be running, wait 5 seconds and try again.

# In[4]:


for port in ports:
    print port
    try:
        if using_XL320:
            dxl_io = pypot.dynamixel.Dxl320IO(port, baudrate=my_baudrate)
        else:
            dxl_io = pypot.dynamixel.DxlIO(port, baudrate=my_baudrate)
        
        print "scanning"
        found =  dxl_io.scan(range(60))
        print found
        dxl_io.close()
    except Exception, e:
        print e


# ![motor naming convention](./img/motor_naming_convention.jpg)

# Kill whoever uses the ports (should be used only as last chance try to free the ports).

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import os
for port in ports:
    os.system('fuser -k '+port);


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