Class ProtocolNodeAdaptor

x.__init__(...) initializes x; see help(type(x)) for signature

Overrides: object.__init__

(inherited documentation)

Send a memory write command expecting no response. 
The write occurs immediately once called. 

INPUTS:
  addr -- char -- address
  val -- int -- value
OUTPUTS: 
  msg -- string -- transmitted packet minus SYNC

THEORY OF OPERATION:
  Call write command with BROADCAST_ID as id, SYNC_WRITE as cmd, and params 
  as ( start_address, length_of_data, nid, data1, data2, ... ) as per 
  section 3-5-7 pp. 39

Send a memory write command and wait for response, returning it

INPUTS:
  addr -- char -- address
  val -- int -- value
OUTPUTS: 
  msg -- string -- transmitted packet minus SYNC        

Send a request memory read command expecting response later after p.upate() is called

INPUTS:
  addr -- char -- address

OUTPUTS: 
  promise -- list -- promise returned from request

Send a request memory write command expecting response later after p.update() is called

INPUTS:
  addr -- char -- address
  val -- int -- value to write 

OUTPUTS: 
  promise -- list -- promise returned from request

Parse the result of an asynchronous get.
INPUTS:
  promise -- list -- promise to parse for
  barf -- bool -- throw exception or not

OUTPUTs:
  dat -- string -- data, ProtocolError, or None returned from promise

THEORY OF OPERATION:
When barf is True, this may raise a deferred exception if the
operation timed out or did not complete. Otherwise the exception
object will be returned.

Get present voltage on bus as read by servo

OUTPUTS: -- voltage -- int -- volts THEORY OF OPERATION: -- mem_read the present_voltage register and convert

Get present temperature of servo

OUTPUTS: -- temperature -- int -- degrees celsius THEORY OF OPERATION: -- mem_read the present_temperature register

Get present load

OUTPUTS: -- load -- int -- a ratio of max torque, where max torque is 0x3FF, needs to be determined!!! -U THEORY OF OPERATION: -- mem_read the present_load register