pollen-robotics · adityakamath · Dec 30, 2025
diff --git a/PythonExample/AmazingHand_ChangeID.py b/PythonExample/AmazingHand_ChangeID.py
@@ -0,0 +1,135 @@
+import time
+from rustypot import Scs0009PyController
+
+
+# Configuration
+SERIAL_PORT = "COM5"  # Change to your serial port
+BAUDRATE = 1000000
+TIMEOUT = 2.0
+TARGET_NEW_ID = 2  # Desired new motor ID
+
+# EEPROM Lock values (boolean)
+EEPROM_UNLOCKED = False  # Unlock EEPROM to allow writes
+EEPROM_LOCKED = True     # Lock EEPROM to protect settings
+
+SCAN_RANGE = range(1, 11)
+
+
+def main():
+    print("=" * 70)
+    print("Permanent Motor ID Change (EEPROM Lock/Unlock)")
+    print("=" * 70)
+    print(f"Target new ID: {TARGET_NEW_ID}\n")
+
+    # Initialize controller
+    print("Step 1: Initializing controller...")
+    try:
+        controller = Scs0009PyController(
+            serial_port=SERIAL_PORT,
+            baudrate=BAUDRATE,
+            timeout=TIMEOUT,
+        )
+        print("✓ Controller initialized\n")
+    except Exception as e:
+        print(f"✗ Failed to initialize: {e}")
+        return
+
+    # Scan for motor
+    print("Step 2: Scanning for motor...")
+    current_id = None
+    for motor_id in SCAN_RANGE:
+        try:
+            result = controller.ping(motor_id)
+            if result:
+                current_id = motor_id
+                print(f"✓ Found motor at ID {current_id}\n")
+                break
+        except Exception:
+            pass
+
+    if current_id is None:
+        print("✗ No motor found")
+        return
+
+    if current_id == TARGET_NEW_ID:
+        print(f"Motor already has ID {TARGET_NEW_ID}")
+        return
+
+    # Change ID with EEPROM lock/unlock
+    print(f"Step 3: Changing ID from {current_id} to {TARGET_NEW_ID}...")
+
+    try:
+        # Step 1: Disable torque (REQUIRED for EEPROM writes)
+        print("  a) Disabling torque...")
+        controller.write_torque_enable(current_id, 0)
+        print("  ✓ Torque disabled")
+        time.sleep(0.5)
+
+        # Step 2: Unlock EEPROM
+        print("  b) Unlocking EEPROM...")
+        controller.write_lock(current_id, EEPROM_UNLOCKED)
+        print("  ✓ EEPROM unlocked")
+        time.sleep(0.5)
+
+        # Step 3: Write new ID
+        print(f"  c) Writing new ID {TARGET_NEW_ID} to EEPROM...")
+        controller.write_id(current_id, TARGET_NEW_ID)
+        print("  ✓ ID written to EEPROM")
+        time.sleep(1.0)  # Wait for EEPROM write to complete
+
+        # Step 4: Lock EEPROM to protect settings
+        print("  d) Locking EEPROM to protect settings...")
+        controller.write_lock(TARGET_NEW_ID, EEPROM_LOCKED)
+        print("  ✓ EEPROM locked")
+        time.sleep(0.5)
+
+        # Step 5: Verify the change
+        print(f"  e) Verifying new ID {TARGET_NEW_ID}...")
+        time.sleep(0.5)
+        result = controller.ping(TARGET_NEW_ID)
+
+        if result:
+            print(f"\n✓ SUCCESS! Motor ID permanently changed to {TARGET_NEW_ID}\n")
+
+            # Re-enable torque
+            print("  f) Re-enabling torque...")
+            controller.write_torque_enable(TARGET_NEW_ID, 1)
+            print("  ✓ Torque enabled")
+
+            print("\n" + "=" * 70)
+            print(f"COMPLETE: Motor ID is now {TARGET_NEW_ID}")
+            print("EEPROM has been locked - settings are protected.")
+            print("This ID will persist after power cycling!")
+            print("=" * 70)
+
+            print("\nVERIFICATION: Power cycle the motor to confirm")
+            print("1. Disconnect power from the motor")
+            print("2. Wait 5 seconds")
+            print("3. Reconnect power")
+            print("4. Run scanner - motor should still be at ID", TARGET_NEW_ID)
+
+        else:
+            print(f"\n✗ Failed to verify new ID {TARGET_NEW_ID}")
+
+    except Exception as e:
+        print(f"\n✗ Error during ID change: {e}")
+        print("\nTrying to re-lock EEPROM for safety...")
+        try:
+            # Try to lock with both possible IDs
+            try:
+                controller.write_lock(current_id, EEPROM_LOCKED)
+            except:
+                pass
+            try:
+                controller.write_lock(TARGET_NEW_ID, EEPROM_LOCKED)
+            except:
+                pass
+            print("EEPROM lock attempted")
+        except:
+            pass
+        import traceback
+        traceback.print_exc()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/PythonExample/AmazingHand_Demo.py b/PythonExample/AmazingHand_Demo.py
@@ -23,8 +23,11 @@
 
 
 def main():
-
-    c.write_torque_enable(1, 1)  #1 = On / 2 = Off / 3 = Free
+
+    # Enable torque for all 8 motors
+    for motor_id in range(1, 9):
+        c.write_torque_enable(motor_id, 1)  #1 = On / 2 = Off / 3 = Free
+
     t0 = time.time()
 
     while True:

diff --git a/PythonExample/AmazingHand_FingerTest.py b/PythonExample/AmazingHand_FingerTest.py
@@ -19,7 +19,8 @@
 def main():
 
 
-    c.write_torque_enable(1, 1) 
+    c.write_torque_enable(ID_1, 1)
+    c.write_torque_enable(ID_2, 1)
     #1 = On / 2 = Off / 3 = Free
 
     while True:

diff --git a/PythonExample/AmazingHand_ScanMotor.py b/PythonExample/AmazingHand_ScanMotor.py
@@ -0,0 +1,126 @@
+import time
+from rustypot import Scs0009PyController
+
+
+# Configuration
+SERIAL_PORT = "COM5"  # Change to your serial port
+TIMEOUT = 0.5
+
+# Common baudrates for Feetech servos
+BAUDRATES = [1000000, 500000, 115200, 57600, 38400, 19200, 9600]
+
+# Scan only a few IDs for faster testing (expand if needed)
+QUICK_SCAN_RANGE = range(1, 11)  # IDs 1-10
+FULL_SCAN_RANGE = range(0, 254)  # All possible IDs
+
+
+def scan_for_motors(controller, scan_range, baudrate):
+    """Scan for motors on the bus."""
+    found_motors = []
+
+    for motor_id in scan_range:
+        try:
+            result = controller.ping(motor_id)
+            if result:
+                found_motors.append(motor_id)
+                print(f"  ✓ Motor found at ID {motor_id}")
+        except Exception:
+            pass
+
+    return found_motors
+
+
+def main():
+    """Main function to scan for motors."""
+    print("=" * 70)
+    print("AmazingHand Motor Scanner")
+    print("=" * 70)
+    print(f"\nSerial Port: {SERIAL_PORT}")
+    print(f"Timeout: {TIMEOUT}s")
+
+    print("\nAttempting to detect motors at different baudrates...")
+    print("This may take a moment...\n")
+
+    all_found_motors = {}
+
+    for baudrate in BAUDRATES:
+        print(f"\n{'='*70}")
+        print(f"Trying baudrate: {baudrate}")
+        print(f"{'='*70}")
+
+        try:
+            controller = Scs0009PyController(
+                serial_port=SERIAL_PORT,
+                baudrate=baudrate,
+                timeout=TIMEOUT,
+            )
+            print(f"Controller initialized at {baudrate} baud")
+
+            # Quick scan first (IDs 1-10)
+            print(f"Quick scan (IDs {QUICK_SCAN_RANGE.start}-{QUICK_SCAN_RANGE.stop-1})...")
+            found_motors = scan_for_motors(controller, QUICK_SCAN_RANGE, baudrate)
+
+            if found_motors:
+                all_found_motors[baudrate] = found_motors
+                print(f"\n✓ Found {len(found_motors)} motor(s) at {baudrate} baud: {found_motors}")
+
+                # Get more info about the first motor
+                motor_id = found_motors[0]
+                try:
+                    # Try to read model number
+                    print(f"\nReading details for motor ID {motor_id}:")
+                    position = controller.read_present_position(motor_id)
+                    print(f"  - Present Position: {position:.4f} rad ({position * 180/3.14159:.1f}°)")
+
+                    voltage = controller.read_present_voltage(motor_id)
+                    print(f"  - Present Voltage: {voltage:.2f}V")
+
+                    temperature = controller.read_present_temperature(motor_id)
+                    print(f"  - Temperature: {temperature}°C")
+
+                except Exception as e:
+                    print(f"  - Could not read detailed info: {e}")
+            else:
+                print(f"No motors found in quick scan range")
+
+        except Exception as e:
+            print(f"✗ Error at baudrate {baudrate}: {e}")
+
+    # Summary
+    print("\n" + "=" * 70)
+    print("SCAN SUMMARY")
+    print("=" * 70)
+
+    if all_found_motors:
+        print("\nMotors detected:")
+        for baudrate, motor_ids in all_found_motors.items():
+            print(f"  Baudrate {baudrate}: Motor IDs {motor_ids}")
+
+        # Recommend settings
+        recommended_baudrate = list(all_found_motors.keys())[0]
+        recommended_ids = all_found_motors[recommended_baudrate]
+        print(f"\n✓ RECOMMENDED SETTINGS:")
+        print(f"  Serial Port: {SERIAL_PORT}")
+        print(f"  Baudrate: {recommended_baudrate}")
+        print(f"  Detected Motor IDs: {recommended_ids}")
+    else:
+        print("\n⚠ No motors detected!")
+        print("\nTroubleshooting:")
+        print("  1. Check that the motor is connected to the controller")
+        print("  2. Verify the motor is powered (check power LED)")
+        print("  3. Ensure the USB cable is properly connected")
+        print("  4. Try connecting only ONE motor at a time")
+        print("  5. Check that no other program is using the serial port")
+
+    print("=" * 70)
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        print("\n\nScan cancelled by user.")
+    except Exception as e:
+        print(f"\n\nUnexpected error: {e}")
+        import traceback
+        traceback.print_exc()