arbotix_python::servo_controller::DynamixelServo Class Reference

Inheritance diagram for arbotix_python::servo_controller::DynamixelServo:

[legend]

List of all members.

Public Member Functions
def	__init__
def	angleToTicks
def	commandCb
def	getDiagnostics
def	interpolate
def	relaxCb
def	setControlOutput
def	setCurrentFeedback
def	ticksToAngle
Public Attributes
	desired
	dirty
	errors
	id
	invert
	last
	last_cmd
	level
	max_angle
	max_speed
	min_angle
	neutral
	position
	rad_per_tick
	range
	readable
	reads
	relaxed
	speed
	status
	temperature
	ticks
	total_errors
	total_reads
	velocity
	voltage

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Detailed Description

Definition at line 41 of file servo_controller.py.

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Member Function Documentation

def arbotix_python::servo_controller::DynamixelServo::__init__	(		self,
			device,
			name,
			ns = "~joints"
	)

Definition at line 43 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::angleToTicks	(		self,
			angle
	)

Convert an angle to ticks, applying limits. 

Definition at line 172 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::commandCb	(		self,
			req
	)

Float64 style command input. 

Definition at line 198 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 140 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::interpolate	(		self,
			frame
	)

Get the new position to move to, in ticks. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 88 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::relaxCb	(		self,
			req
	)

Turn off servo torque, so that it is pose-able. 

Definition at line 190 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::setControlOutput	(		self,
			position
	)

Set the position that controller is moving to. 
    Returns output value in ticks. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 131 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::setCurrentFeedback	(		self,
			reading
	)

Update angle in radians by reading from servo, or by 
    using position passed in from a sync read (in ticks). 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 111 of file servo_controller.py.

def arbotix_python::servo_controller::DynamixelServo::ticksToAngle	(		self,
			ticks
	)

Convert an ticks to angle, applying limits. 

Definition at line 183 of file servo_controller.py.

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Member Data Documentation

arbotix_python::servo_controller::DynamixelServo::desired

Definition at line 70 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::dirty

Definition at line 68 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::errors

Definition at line 77 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::id

Definition at line 47 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::invert

Definition at line 62 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::last

Reimplemented from arbotix_python::joints::Joint.

Definition at line 74 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::last_cmd

Definition at line 71 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::level

Definition at line 66 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::max_angle

Definition at line 58 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::max_speed

Definition at line 60 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::min_angle

Definition at line 59 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::neutral

Definition at line 49 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::position

Reimplemented from arbotix_python::joints::Joint.

Definition at line 69 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::rad_per_tick

Definition at line 55 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::range

Definition at line 51 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::readable

Definition at line 63 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::reads

Definition at line 76 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::relaxed

Definition at line 73 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::speed

Definition at line 100 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::status

Definition at line 65 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::temperature

Definition at line 82 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::ticks

Definition at line 48 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::total_errors

Definition at line 79 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::total_reads

Definition at line 78 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::velocity

Reimplemented from arbotix_python::joints::Joint.

Definition at line 72 of file servo_controller.py.

arbotix_python::servo_controller::DynamixelServo::voltage

Definition at line 81 of file servo_controller.py.

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The documentation for this class was generated from the following file:

• servo_controller.py