WR BEAR - Page 25

[PyBEAR | WARNING] :: Read response timed out. Re-sending the same packet.
b) Read from multiple registers
This function is previously known as get bulk status/config(), which is verbally mislead-
ing since this is in fact not using bulk communication protocol. get bulk status/config()
is now depreciated.
CAUTION
Will not work for ID, Mode, Baudrate, Watchdog timeout and Torque Enable
CAUTION
Multiple registers on a BEAR can be visited within one frame of communication using:
get_status/config((ID1, reg1, reg2...), (ID2, reg1, reg2 ...) ...)
Multiple target motors can be visited but PyBEAR will go through them one-by-one.
Do not use get status() with config registers, nor to use get config() with status regis-
ters
CAUTION
The function return format is:
[([data_from_motor1], error_code_of_motor1),
([data_from_motor2], error_code_of_motor2)...]
Example:
# Read present_iq and present_velocity from BEAR 1 and 2,
# and read present_velocity from BEAR 3
bear.get_status((1, 'present_iq', 'present_velocity'),
(2, 'present_iq', 'present_velocity'),
(3, 'present_velocity'))
# Read p_gain_position from BEAR 1, 4
bear.get_config((1, 'p_gain_position'), (4, 'p_gain_position'))
If bad connection happens and nothing is heard from the BEAR actuator(s) or the return
packets are damaged, PyBEAR automatically retries the read function, and a warning is
generated:
[PyBEAR | WARNING] :: Read response timed out. Re-sending the same packet.
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