Joints hold current values. More...
Public Member Functions | |
| def | __init__ |
| Constructs a Joint instance. | |
| def | getDiagnostics |
| Get a diagnostics message for this joint. | |
| def | interpolate |
| Get new output, in raw data format. | |
| def | setControlOutput |
| Set the goal position. | |
| def | setCurrentFeedback |
| Set the current position from feedback data. | |
Public Attributes | |
| controller | |
| device | |
| last | |
| name | |
| position | |
| velocity | |
Joints hold current values.
Definition at line 32 of file joints.py.
| def arbotix_python::joints::Joint::__init__ | ( | self, | ||
| device, | ||||
| name | ||||
| ) |
Constructs a Joint instance.
| device | The arbotix instance. | |
| name | The joint name. |
Reimplemented in arbotix_python::linear_controller::LinearJoint.
| def arbotix_python::joints::Joint::getDiagnostics | ( | self | ) |
Get a diagnostics message for this joint.
Reimplemented in arbotix_python::linear_controller::LinearJoint, arbotix_python::servo_controller::DynamixelServo, and arbotix_python::servo_controller::HobbyServo.
| def arbotix_python::joints::Joint::interpolate | ( | self, | ||
| frame | ||||
| ) |
Get new output, in raw data format.
| frame | The frame length in seconds to interpolate forward. |
Reimplemented in arbotix_python::linear_controller::LinearJoint, arbotix_python::servo_controller::DynamixelServo, and arbotix_python::servo_controller::HobbyServo.
| def arbotix_python::joints::Joint::setControlOutput | ( | self, | ||
| position | ||||
| ) |
Set the goal position.
| position | The goal position, in radians/meters. |
Reimplemented in arbotix_python::linear_controller::LinearJoint, arbotix_python::servo_controller::DynamixelServo, and arbotix_python::servo_controller::HobbyServo.
| def arbotix_python::joints::Joint::setCurrentFeedback | ( | self, | ||
| raw_data | ||||
| ) |
Set the current position from feedback data.
| raw_data | The current feedback. |
Reimplemented in arbotix_python::linear_controller::LinearJoint, arbotix_python::servo_controller::DynamixelServo, and arbotix_python::servo_controller::HobbyServo.
