code: def get_servo_position(self):
          
          #global SERPORT
  
          data = []
          data.append(0x09)
          data.append(self.servoid)
          data.append(RAM_READ_REQ)
          data.append(CALIBRATED_POSITION_RAM)
          data.append(BYTE2)
          send_data(data)
          rxdata = []
          try:
              rxdata = SERPORT.read(13)
              if (self.servomodel==0x06) or (self.servomodel == 0x04):
                  return ((ord(rxdata[10])&0xff)<<8) | (ord(rxdata[9])&0xFF)
              else:
                  #print ord(rxdata[9]),ord(rxdata[10])
                  return ((ord(rxdata[10])&0x03)<<8) | (ord(rxdata[9])&0xFF)
  
          except HerkulexError:
              print "Could not read from the servos. Check connection"
docs: Gets the current position of Herkulex
  
          Args:
              none
  
          Returns:
              int: position of the servo- 0 to 1023
  
          Raises:
              SerialException: Error occured while opening serial port