Module dynamixel

source code

-- The ckbot.dynamixel python module implements classes that communicate with CKBot nodes connected
   to a ( Robotis ) Dynamixel Half-Duplex RS485 Bus, as per Robotis documentation

   Current protocol documentation is found at:
     http://support.robotis.com/en/product/actuator/dynamixel/dxl_communication.htm

   This library was written referring to the EX-106 manual v1.12 
   which Robotis no longer makes available from its website.

-- ckbot.dynamixel utilizes Bus and Protocol classes as an interface between the dynamixel hardware
   and protocol communication layers

   ... talk about meminterface, pna, and module classes ...
-- Typical usage via ckbot.logical python module:
    >>> from ckbot import logical, dynamixel
    >>> nodes = {0x01:'head', 0x06:'mid', 0x03:'tail'}
    >>> c = logical.Cluster( dynamixel.Protocol(nodes = nodes.keys()) )
    >>> c.populate( names=nodes, required=nodes.keys() )
    >>> c.at.head.set_pos(1000)

-- Subclass/extend??

-- CKbot.dynamixel depends upon the following:
 - ckbot.ckmodule
   - Module
   - AbstractBus
   - AbstractNodeAdaptor
   - AbstractProtocol
   - AbstractServoModule
   - progress
 - ckbot.port2port
   - newConnection