motor_calib.py

import pypot.dynamixel as pd

# get ports and start connection to motors
ports = pd.get_available_ports()
motors = pd.Dxl320IO(ports[0],1000000)

motor_id = motors.scan(range(20))

# only work with one motor at a time
if (len(motor_id)>1):
    print("Only connect one motor at a time!")
    quit()
motor_id = motor_id[0]

print("Motor "+str(motor_id)+" found!")

# set motor to 100
motors.set_goal_position({motor_id:100})
raw_input("Motor position: 100; Attach horn then press 'Enter'. ")

# set motor to 0
motors.set_goal_position({motor_id:0})
raw_input("Motor position: 0; Calibrate string length then press 'Enter'. ")

# set motor back to 100
motors.set_goal_position({motor_id:100})
print("Motor position: 100; Calibration complete!")

# change ID
new_id = int(raw_input("Enter motor ID (1-3 for towers, 4 for base, 5+ for etc): "))
motors.change_id({motor_id:new_id})
print("Motor ID changed from "+str(motor_id)+" to "+str(new_id))

quit()