bug.md

DxlCommunicationError                     Traceback (most recent call last)
<ipython-input-3-277838a6949f> in <module>
      1 with Dxl320IO("/dev/ttyAMA0") as f:
----> 2     print(f.scan())
      3 

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in scan(self, ids)
    219     def scan(self, ids=range(254)):
    220         """ Pings all ids within the specified list, by default it finds all the motors connected to the bus. """
--> 221         return [id for id in ids if self.ping(id)]
    222 
    223     # MARK: - Specific Getter / Setter

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in <listcomp>(.0)
    219     def scan(self, ids=range(254)):
    220         """ Pings all ids within the specified list, by default it finds all the motors connected to the bus. """
--> 221         return [id for id in ids if self.ping(id)]
    222 
    223     # MARK: - Specific Getter / Setter

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in ping(self, id)
    212 
    213         try:
--> 214             self._send_packet(pp, error_handler=None)
    215             return True
    216         except DxlTimeoutError:

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in _send_packet(self, instruction_packet, wait_for_status_packet, error_handler, _force_lock)
    529 
    530         if not error_handler:
--> 531             return self.__real_send(instruction_packet, wait_for_status_packet, _force_lock)
    532 
    533         try:

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in __real_send(self, instruction_packet, wait_for_status_packet, _force_lock)
    497                 return
    498 
--> 499             status_packet = self.__real_read(instruction_packet, _force_lock=True)
    500 
    501             logger.debug('Receiving %s', status_packet,

~/pyenv/lib/python3.7/site-packages/pypot/dynamixel/io/abstract_io.py in __real_read(self, instruction_packet, _force_lock)
    519             except ValueError:
    520                 msg = 'could not parse received data {}'.format(bytearray(data))
--> 521                 raise DxlCommunicationError(self, msg, instruction_packet)
    522 
    523             return status_packet

DxlCommunicationError: could not parse received data bytearray(b'\x00\x00\x01\xff\xf9\xff\xfd') after sending DxlPingPacket(id=0)

Cause du problème : le checksum de fin ici est incorrect et génère une exception.