How to use the pypot.dynamixel.conversion function in pypot

def set_control_mode(self, mode_for_id):
        models = ['MX' if m.startswith('MX') else '*'
                  for m in self.get_model(list(mode_for_id.keys()))]
        pos_max = [conv.position_range[m][0] for m in models]
        limits = ((0, 0) if mode == 'wheel' else (0, pos_max[i] - 1)
                  for i, mode in enumerate(mode_for_id.itervalues()))

        self._set_angle_limit(dict(zip(mode_for_id.keys(), limits)), convert=False)
        self._known_mode.update(mode_for_id.items())

setter_name=None):

    control = _DxlControl(name,
                          address, length, nb_elem,
                          access,
                          models,
                          dxl_to_si, si_to_dxl,
                          getter_name, setter_name)

    DxlIO._generate_accessors(control)


_add_control('model',
             address=0x00,
             access=_DxlAccess.readonly,
             dxl_to_si=conv.dxl_to_model)

_add_control('firmware',
             address=0x02, length=1,
             access=_DxlAccess.readonly)

_add_control('id',
             address=0x03, length=1,
             access=_DxlAccess.writeonly,
             setter_name='change_id')

_add_control('baudrate',
             address=0x04, length=1,
             access=_DxlAccess.writeonly,
             setter_name='change_baudrate',
             si_to_dxl=conv.baudrate_to_dxl)

dxl_to_si=lambda value, model: (conv.dxl_to_voltage(value[0], model),
                                             conv.dxl_to_voltage(value[1], model)),
             si_to_dxl=lambda value, model: (conv.voltage_to_dxl(value[0], model),

dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
                                             conv.dxl_to_speed(value[1], model),
                                             conv.dxl_to_load(value[2], model)))

_add_control('present temperature',
             address=0x2B, length=1,
             access=_DxlAccess.readonly,
             dxl_to_si=conv.dxl_to_temperature)

_add_control('moving',
             address=0x2E, length=1,
             access=_DxlAccess.readonly,
             dxl_to_si=conv.dxl_to_bool,
             getter_name='is_moving')

_add_control('goal acceleration',
             address=0x49,
             models=('MX-28', 'MX-64', 'MX-106'),
             dxl_to_si=conv.dxl_to_acc,
             si_to_dxl=conv.acc_to_dxl)

'dxl_to_si': conv.dxl_to_pid,
        'si_to_dxl': conv.pid_to_dxl
    },
    'goal position': {
        'address': 0x1E,
        'dxl_to_si': conv.dxl_to_degree,
        'si_to_dxl': conv.degree_to_dxl
    },
    'moving speed': {
        'address': 0x20,
        'dxl_to_si': conv.dxl_to_speed,
        'si_to_dxl': conv.speed_to_dxl
    },
    'torque limit': {
        'address': 0x23,
        'dxl_to_si': conv.dxl_to_torque,
        'si_to_dxl': conv.torque_to_dxl
    },
    'goal position speed': {
        'address': 0x1E,
        'nb_elem': 2,
        'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
                                           conv.dxl_to_speed(value[1], model)),
        'si_to_dxl': lambda value, model: (conv.degree_to_dxl(value[0], model),
                                           conv.speed_to_dxl(value[1], model)),
        'getter_name': '_get_goal_pos_speed',
        'setter_name': '_set_goal_pos_speed'
    },
    'present position': {
        'address': 0x25,
        'access': _DxlAccess.readonly,
        'dxl_to_si': conv.dxl_to_degree

def _add_control(name,
                 address, length=2, nb_elem=1,
                 access=_DxlAccess.readwrite,
                 models=set(conv.dynamixelModels.values()),
                 dxl_to_si=lambda val, model: val,
                 si_to_dxl=lambda val, model: val,
                 getter_name=None,
                 setter_name=None):

    control = _DxlControl(name,
                          address, length, nb_elem,
                          access,
                          models,
                          dxl_to_si, si_to_dxl,
                          getter_name, setter_name)

    DxlIO._generate_accessors(control)

dxl_to_si=conv.dxl_to_rdt,
             si_to_dxl=conv.rdt_to_dxl)

_add_control('angle limit',
             address=0x06, nb_elem=2,
             dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
                                             conv.dxl_to_degree(value[1], model)),
             si_to_dxl=lambda value, model: (conv.degree_to_dxl(value[0], model),
                                             conv.degree_to_dxl(value[1], model)))

_add_control('drive mode',
             address=0x0A, length=1,
             access=_DxlAccess.readwrite,
             models=('MX-106', ),
             dxl_to_si=conv.dxl_to_drive_mode,
             si_to_dxl=conv.drive_mode_to_dxl)

_add_control('highest temperature limit',
             address=0x0B, length=1,
             dxl_to_si=conv.dxl_to_temperature,
             si_to_dxl=conv.temperature_to_dxl)

_add_control('voltage limit',
             address=0x0C, length=1, nb_elem=2,
             dxl_to_si=lambda value, model: (conv.dxl_to_voltage(value[0], model),
                                             conv.dxl_to_voltage(value[1], model)),
             si_to_dxl=lambda value, model: (conv.voltage_to_dxl(value[0], model),
                                             conv.voltage_to_dxl(value[1], model)))

_add_control('max torque',
             address=0x0E,
             dxl_to_si=conv.dxl_to_torque,

_add_control('id',
             address=0x03, length=1,
             access=_DxlAccess.writeonly,
             setter_name='change_id')

_add_control('baudrate',
             address=0x04, length=1,
             access=_DxlAccess.writeonly,
             setter_name='change_baudrate',
             si_to_dxl=conv.baudrate_to_dxl)

_add_control('return delay time',
             address=0x05, length=1,
             dxl_to_si=conv.dxl_to_rdt,
             si_to_dxl=conv.rdt_to_dxl)

_add_control('angle limit',
             address=0x06, nb_elem=2,
             dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
                                             conv.dxl_to_degree(value[1], model)),
             si_to_dxl=lambda value, model: (conv.degree_to_dxl(value[0], model),
                                             conv.degree_to_dxl(value[1], model)))

_add_control('drive mode',
             address=0x0A, length=1,
             access=_DxlAccess.readwrite,
             models=('MX-106', ),
             dxl_to_si=conv.dxl_to_drive_mode,
             si_to_dxl=conv.drive_mode_to_dxl)

_add_control('highest temperature limit',

_add_control('highest temperature limit',
             address=0x0B, length=1,
             dxl_to_si=conv.dxl_to_temperature,
             si_to_dxl=conv.temperature_to_dxl)

_add_control('voltage limit',
             address=0x0C, length=1, nb_elem=2,
             dxl_to_si=lambda value, model: (conv.dxl_to_voltage(value[0], model),
                                             conv.dxl_to_voltage(value[1], model)),
             si_to_dxl=lambda value, model: (conv.voltage_to_dxl(value[0], model),
                                             conv.voltage_to_dxl(value[1], model)))

_add_control('max torque',
             address=0x0E,
             dxl_to_si=conv.dxl_to_torque,
             si_to_dxl=conv.torque_to_dxl)

_add_control('status return level',
             address=0x10, length=1,
             dxl_to_si=conv.dxl_to_status,
             si_to_dxl=conv.status_to_dxl)

_add_control('alarm LED',
             address=0x11, length=1,
             dxl_to_si=conv.dxl_to_alarm,
             si_to_dxl=conv.alarm_to_dxl)

_add_control('alarm shutdown',
             address=0x12, length=1,
             dxl_to_si=conv.dxl_to_alarm,
             si_to_dxl=conv.alarm_to_dxl)