reachy_mini/pr_1069/en/API/tools.md

# Tools

## Motor Setup Tools[[reachy_mini.tools.setup_motor]]

#### reachy_mini.tools.setup_motor[[reachy_mini.tools.setup_motor]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L55)

Set up the motor with the given configuration.

#### reachy_mini.tools.setup_motor.lookup_for_motor[[reachy_mini.tools.setup_motor.lookup_for_motor]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L144)

Check if a motor with the given ID is reachable on the specified serial port.

#### reachy_mini.tools.setup_motor.disable_torque[[reachy_mini.tools.setup_motor.disable_torque]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L165)

Disable the torque of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_baudrate[[reachy_mini.tools.setup_motor.change_baudrate]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L177)

Change the baudrate of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_id[[reachy_mini.tools.setup_motor.change_id]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L191)

Change the ID of the motor with the given current ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_offset[[reachy_mini.tools.setup_motor.change_offset]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L203)

Change the offset of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_operating_mode[[reachy_mini.tools.setup_motor.change_operating_mode]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L215)

Change the operating mode of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_angle_limits[[reachy_mini.tools.setup_motor.change_angle_limits]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L233)

Change the angle limits of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_shutdown_error[[reachy_mini.tools.setup_motor.change_shutdown_error]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L256)

Change the shutdown error of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.change_return_delay_time[[reachy_mini.tools.setup_motor.change_return_delay_time]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L274)

Change the return delay time of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.light_led_up[[reachy_mini.tools.setup_motor.light_led_up]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L292)

Light the LED of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.light_led_down[[reachy_mini.tools.setup_motor.light_led_down]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L311)

Light the LED of the motor with the given ID on the specified serial port.

#### reachy_mini.tools.setup_motor.check_configuration[[reachy_mini.tools.setup_motor.check_configuration]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/setup_motor.py#L329)

Check the configuration of the motor with the given ID on the specified serial port.

## Motor Scanning Tools[[reachy_mini.tools.scan_motors.scan]]

#### reachy_mini.tools.scan_motors.scan[[reachy_mini.tools.scan_motors.scan]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/scan_motors.py#L48)

Scan the bus at the given baudrate and return detected IDs.

## Motor Reflashing Tools[[reachy_mini.tools.reflash_motors.reflash_motors_if_needed]]

#### reachy_mini.tools.reflash_motors.reflash_motors_if_needed[[reachy_mini.tools.reflash_motors.reflash_motors_if_needed]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/tools/reflash_motors.py#L40)

Reflash Reachy Mini's motors.