arbotix_python::servo_controller::HobbyServo Class Reference

Inheritance diagram for arbotix_python::servo_controller::HobbyServo:

[legend]

List of all members.

Public Member Functions
def	__init__
def	angleToTicks
def	commandCb
def	getDiagnostics
def	interpolate
def	setControlOutput
def	setCurrentFeedback
def	ticksToAngle
Public Attributes
	desired
	dirty
	id
	invert
	last
	last_cmd
	max_angle
	max_speed
	min_angle
	neutral
	position
	rad_per_tick
	range
	speed
	ticks
	velocity

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Detailed Description

Definition at line 208 of file servo_controller.py.

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Member Function Documentation

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

Definition at line 210 of file servo_controller.py.

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

Convert an angle to ticks, applying limits. 

Definition at line 282 of file servo_controller.py.

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

Float64 style command input. 

Definition at line 300 of file servo_controller.py.

def arbotix_python::servo_controller::HobbyServo::getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 273 of file servo_controller.py.

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

Get the new position to move to, in ticks. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 237 of file servo_controller.py.

def arbotix_python::servo_controller::HobbyServo::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 265 of file servo_controller.py.

def arbotix_python::servo_controller::HobbyServo::setCurrentFeedback	(		self,
			raw_data
	)

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 260 of file servo_controller.py.

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

Convert an ticks to angle, applying limits. 

Definition at line 293 of file servo_controller.py.

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Member Data Documentation

arbotix_python::servo_controller::HobbyServo::desired

Definition at line 229 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::dirty

Definition at line 227 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::id

Definition at line 214 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::invert

Definition at line 225 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::last

Reimplemented from arbotix_python::joints::Joint.

Definition at line 232 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::last_cmd

Definition at line 230 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::max_angle

Definition at line 221 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::max_speed

Definition at line 223 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::min_angle

Definition at line 222 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::neutral

Definition at line 216 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::position

Reimplemented from arbotix_python::joints::Joint.

Definition at line 228 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::rad_per_tick

Definition at line 218 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::range

Definition at line 217 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::speed

Definition at line 249 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::ticks

Definition at line 215 of file servo_controller.py.

arbotix_python::servo_controller::HobbyServo::velocity

Reimplemented from arbotix_python::joints::Joint.

Definition at line 231 of file servo_controller.py.

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

• servo_controller.py