#!/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

def main():
    """
    Set the *ID* for the specified Dynamixel unit
    i.e. the unique ID number assigned to actuators for identifying them.

    Different IDs are required for each Dynamixel actuators that are on the
    same network.
    """

    # Parse options
    parser = common_argument_parser(desc=main.__doc__)

    parser.add_argument("--new-id",
                        "-n",
                        help="The new unique ID assigned to the selected"
                        " Dynamixel unit. It must be in range (0, 0xFE).",
                        metavar="INT",
                        default=1)

    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_id(args.dynamixel_id, args.new_id)

    # Close the serial connection
    serial_connection.close()

if __name__ == '__main__':
    main()

Add a demo.