text: #!/usr/bin/env python3
  # -*- coding: utf-8 -*-
  
  # PyAX-12
  
  # The MIT License
  #
  # Copyright (c) 2010,2015,2017 Jeremie DECOCK (http://www.jdhp.org)
  #
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  # THE SOFTWARE.
  
  """
  A PyAX-12 demo.
  """
  
  from pyax12.connection import Connection
  from pyax12.argparse_default import common_argument_parser
  import pyax12.packet as pk
  
  DEFAULT_VALUE = 57.6
  
  def main():
      """Set the *baud rate* for the specified Dynamixel unit
      i.e. set the connection speed with the actuator in kbps
      (kilo bauds per second).
      """
  
      # Parse options
      parser = common_argument_parser(desc=main.__doc__)
  
      parser.add_argument("--new-baudrate",
                          "-n",
                          help="the new baud rate assigned to the selected "
                               "Dynamixel unit (in kbps)."
                               "The default value is {default}kbps.".format(default=DEFAULT_VALUE),
                          type=float,
                          metavar="FLOAT",
                          default=DEFAULT_VALUE)
  
      args = parser.parse_args()
  
      # Connect to the serial port
      serial_connection = Connection(port=args.port,
                                     baudrate=args.baudrate,
                                     timeout=args.timeout,
                                     rpi_gpio=args.rpi)
  
      serial_connection.set_baud_rate(args.dynamixel_id, args.new_baudrate)
  
      # Close the serial connection
      serial_connection.close()
  
  if __name__ == '__main__':
      main()
  