clearpath::horizon::Horizon Class Reference

Horizon Interface. More...

List of all members.

Public Member Functions
def	__del__
def	__init__
	Create a Horizon Interface.
def	__str__
def	acks
def	add_handler
	Add Subscription Data Handler.
def	close
def	emergency_stop
def	get_device_time
	Get Device Time.
def	get_start_time
	Get Program Start Time.
def	get_waiting_data
	Get Waiting Data.
def	is_alive
	Horizon Device Alive?
def	is_open
	Horizon Device Open?
def	open
def	remove_handler
	Remove Subscription Data Handler.
def	request_absolute_joint_position
def	request_accelerometer_config
def	request_ackermann_output
def	request_battery_estimation_config
def	request_config
def	request_control_flags
def	request_current_sensor_config
def	request_differential_control
def	request_differential_current
def	request_differential_current_control
def	request_differential_output
def	request_differential_speed
def	request_distance
def	request_distance_timing
def	request_echo
def	request_encoders
def	request_encoders_config
def	request_end_effector_orientation
def	request_end_effector_pose
def	request_end_effector_position
def	request_firmware_info
def	request_gear_status
def	request_gpadc_input
def	request_gpadc_output
def	request_gpio
def	request_gyro_config
def	request_joint_control
def	request_joint_homing_status
def	request_joint_torques
def	request_magnetometer_config
def	request_max_accel
def	request_max_speed
def	request_orientation_sensor_config
def	request_pan_tilt_zoom
def	request_platform_6axis
def	request_platform_6axis_orientation
def	request_platform_acceleration
def	request_platform_info
def	request_platform_kinematics
def	request_platform_kinematics
def	request_platform_magnetometer
def	request_platform_name
def	request_platform_orientation
def	request_platform_rotation
def	request_power_status
def	request_processor_status
def	request_raw_accelerometer
def	request_raw_current_sensor
def	request_raw_encoders
def	request_raw_gyro
def	request_raw_magnetometer
def	request_raw_orientation_sensor
def	request_raw_temperature_sensor
def	request_raw_voltage_sensor
def	request_relative_joint_position
def	request_safety_status
def	request_system_status
def	request_temperature_sensor_config
def	request_turn
def	request_velocity
def	request_voltage_sensor_config
def	reset
def	restore_system_config
def	set_absolute_joint_position
def	set_accelerometer_config
def	set_ackermann_output
def	set_battery_estimation_config
def	set_config
def	set_control_flags
def	set_current_sensor_config
def	set_differential_control
def	set_differential_current
def	set_differential_current_control
def	set_differential_output
def	set_differential_speed
def	set_encoders_config
def	set_end_effector_pose
def	set_end_effector_position
def	set_gear
def	set_gpadc_output
def	set_gpio_direction
def	set_gpio_output
def	set_gyro_config
def	set_joint_control
def	set_joint_homing
def	set_magnetometer_config
def	set_max_accel
def	set_max_speed
def	set_orientation_sensor_config
def	set_pan_tilt_zoom
def	set_platform_info
def	set_platform_kinematics
def	set_platform_name
def	set_platform_time
def	set_relative_joint_position
def	set_reset
def	set_safety_status
def	set_temperature_sensor_config
def	set_turn
def	set_velocity
def	set_voltage_sensor_config
def	store_system_config
Public Attributes
	version
Static Public Attributes
tuple	version = (1, 1)
Properties
	alive = property(fget=is_alive, doc="Horizon Device Alive")
	device_time = property(fget=get_device_time, doc="Horizon Device Time")
	opened = property(fget=is_open, doc="Horizon Device Open")
	start_time = property(fget=get_start_time, doc="Horizon Start Time")
Private Attributes
	_protocol

---

Detailed Description

Horizon Interface.

Interface for interaction over a transport using the Horizon protocol. Contains direct 1-1 function mappings for commands and requests.

Definition at line 130 of file horizon/__init__.py.

---

Member Function Documentation

def clearpath::horizon::Horizon::__del__

(

self

)

Definition at line 170 of file horizon/__init__.py.

def clearpath::horizon::Horizon::__init__	(		self,
			transport = protocol.transports.Serial.autodetect,
			transport_args = {},
			retries = 5,
			send_timeout = 50,
			rec_timeout = 100,
			store_timeout = 2000
	)

Create a Horizon Interface.

Constructor for the Horizon Interface class. Performs the initial creation and initialization of the underlying protocol and transport through instantiation. Supports version auto-detection (will take place in open) by sending a request for the platform information message.

Parameters:

	retries	The number of times to retry sending a message that received a timeout or checksum error
	rec_timeout	The time to wait for a data message after sending a request, 0 - wait indefinitely
	send_timeout	The time to wait for an acknowledgment in milliseconds, 0 - wait indefinitely
	store_timeout	The time to store an un-handled message for the method get_waiting in milliseconds, 0 - store indefinitely
	transport	The Transport class to use.
	transport_args	Dictionary of arguments to pass to the transport's __init__ method. Do NOT include version or store_timeout as these will be populated.

Exceptions:

	LookupError	If auto-detect version fails
	TransportError	Upon transport creation/initialization failure
	ValueError	From bad arguments

Definition at line 159 of file horizon/__init__.py.

def clearpath::horizon::Horizon::__str__

(

self

)

Definition at line 167 of file horizon/__init__.py.

def clearpath::horizon::Horizon::acks	(		self,
			enabled
	)

Definition at line 186 of file horizon/__init__.py.

def clearpath::horizon::Horizon::add_handler	(		self,
			handler,
			backtrack = False,
			request = None
	)

Add Subscription Data Handler.

Adds a data subscription handler to be called when data is received. Asynchronous method of getting subscription Data.

Parameters:

	backtrack	Call the new handler with any waiting data?
	request	The name of the request data to handle, ie 'platform_info' If None then it returns all subscription data.
	handler	The Message Handler. Must have three parameters: str name, Payload payload, long timestamp

Definition at line 547 of file horizon/__init__.py.

def clearpath::horizon::Horizon::close

(

self

)

Definition at line 181 of file horizon/__init__.py.

def clearpath::horizon::Horizon::emergency_stop

(

self

)

Definition at line 194 of file horizon/__init__.py.

def clearpath::horizon::Horizon::get_device_time

(

self

)

Get Device Time.

Note that the time returned has a delay from transmission.

Returns:

device time in milliseconds

Definition at line 610 of file horizon/__init__.py.

def clearpath::horizon::Horizon::get_start_time

(

self

)

Get Program Start Time.

Returns:

program start time in milliseconds as stored in Transport

Definition at line 621 of file horizon/__init__.py.

def clearpath::horizon::Horizon::get_waiting_data	(		self,
			request = None
	)

Get Waiting Data.

Returns payload(s) from any waiting messages. Synchronous method of getting subscription Data.

Parameters:

request

The name of the requested data. If None then it returns all subscription data.

Returns:

list of tuple(name,payload,timestamp), empty if no waiting data. Invalid messages are returned as payloads.Null.

Definition at line 573 of file horizon/__init__.py.

def clearpath::horizon::Horizon::is_alive

(

self

)

Horizon Device Alive?

Returns:

is the horizon device alive?

Definition at line 595 of file horizon/__init__.py.

def clearpath::horizon::Horizon::is_open

(

self

)

Horizon Device Open?

Returns:

is the horizon device open?

Definition at line 584 of file horizon/__init__.py.

def clearpath::horizon::Horizon::open

(

self

)

Definition at line 173 of file horizon/__init__.py.

def clearpath::horizon::Horizon::remove_handler	(		self,
			handler = None,
			request = None
	)

Remove Subscription Data Handler.

Removes a data subscription handler.

Parameters:

	handler	The Handler to remove. If None, remove all handlers.
	request	The name of the requested data.

Definition at line 559 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_absolute_joint_position	(		self,
			subscription = 0
	)

Definition at line 460 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_accelerometer_config	(		self,
			subscription = 0
	)

Definition at line 505 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_ackermann_output	(		self,
			subscription = 0
	)

Definition at line 397 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_battery_estimation_config	(		self,
			subscription = 0
	)

Definition at line 502 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_config	(		self,
			index = 0
	)

Definition at line 379 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_control_flags	(		self,
			subscription = 0
	)

Definition at line 364 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_current_sensor_config	(		self,
			subscription = 0
	)

Definition at line 484 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_differential_control	(		self,
			subscription = 0
	)

Definition at line 385 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_differential_current	(		self,
			subscription = 0
	)

Definition at line 388 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_differential_current_control	(		self,
			subscription = 0
	)

Definition at line 391 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_differential_output	(		self,
			subscription = 0
	)

Definition at line 394 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_differential_speed	(		self,
			subscription = 0
	)

Definition at line 382 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_distance	(		self,
			subscription = 0
	)

Definition at line 427 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_distance_timing	(		self,
			subscription = 0
	)

Definition at line 430 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_echo	(		self,
			subscription = 0
	)

Definition at line 346 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_encoders	(		self,
			subscription = 0
	)

Definition at line 451 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_encoders_config	(		self,
			subscription = 0
	)

Definition at line 457 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_end_effector_orientation	(		self,
			subscription = 0
	)

Definition at line 481 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_end_effector_pose	(		self,
			subscription = 0
	)

Definition at line 478 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_end_effector_position	(		self,
			subscription = 0
	)

Definition at line 475 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_firmware_info	(		self,
			subscription = 0
	)

Definition at line 361 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_gear_status	(		self,
			subscription = 0
	)

Definition at line 412 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_gpadc_input	(		self,
			subscription = 0
	)

Definition at line 421 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_gpadc_output	(		self,
			subscription = 0,
			channel = 0
	)

Definition at line 415 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_gpio	(		self,
			subscription = 0
	)

Definition at line 418 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_gyro_config	(		self,
			subscription = 0
	)

Definition at line 499 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_joint_control	(		self,
			joint = 0,
			subscription = 0
	)

Definition at line 466 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_joint_homing_status	(		self,
			subscription = 0
	)

Definition at line 469 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_joint_torques	(		self,
			subscription = 0
	)

Definition at line 472 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_magnetometer_config	(		self,
			subscription = 0
	)

Definition at line 496 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_max_accel	(		self,
			subscription = 0
	)

Definition at line 409 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_max_speed	(		self,
			subscription = 0
	)

Definition at line 406 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_orientation_sensor_config	(		self,
			subscription = 0
	)

Definition at line 493 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_pan_tilt_zoom	(		self,
			mount = 0,
			subscription = 0
	)

Definition at line 424 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_6axis	(		self,
			subscription = 0
	)

Definition at line 442 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_6axis_orientation	(		self,
			subscription = 0
	)

Definition at line 445 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_acceleration	(		self,
			subscription = 0
	)

Definition at line 439 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_info	(		self,
			subscription = 0
	)

Definition at line 349 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_kinematics	(		self,
			subscription = 0
	)

Definition at line 358 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_kinematics	(		self,
			subscription = 0
	)

Definition at line 355 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_magnetometer	(		self,
			subscription = 0
	)

Definition at line 448 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_name	(		self,
			subscription = 0
	)

Definition at line 352 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_orientation	(		self,
			subscription = 0
	)

Definition at line 433 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_platform_rotation	(		self,
			subscription = 0
	)

Definition at line 436 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_power_status	(		self,
			subscription = 0
	)

Definition at line 373 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_processor_status	(		self,
			subscription = 0
	)

Definition at line 370 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_accelerometer	(		self,
			subscription = 0
	)

Definition at line 526 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_current_sensor	(		self,
			subscription = 0
	)

Definition at line 508 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_encoders	(		self,
			subscription = 0
	)

Definition at line 454 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_gyro	(		self,
			subscription = 0
	)

Definition at line 523 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_magnetometer	(		self,
			subscription = 0
	)

Definition at line 520 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_orientation_sensor	(		self,
			subscription = 0
	)

Definition at line 517 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_temperature_sensor	(		self,
			subscription = 0
	)

Definition at line 514 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_raw_voltage_sensor	(		self,
			subscription = 0
	)

Definition at line 511 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_relative_joint_position	(		self,
			subscription = 0
	)

Definition at line 463 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_safety_status	(		self,
			subscription = 0
	)

Definition at line 376 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_system_status	(		self,
			subscription = 0
	)

Definition at line 367 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_temperature_sensor_config	(		self,
			subscription = 0
	)

Definition at line 490 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_turn	(		self,
			subscription = 0
	)

Definition at line 403 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_velocity	(		self,
			subscription = 0
	)

Definition at line 400 of file horizon/__init__.py.

def clearpath::horizon::Horizon::request_voltage_sensor_config	(		self,
			subscription = 0
	)

Definition at line 487 of file horizon/__init__.py.

def clearpath::horizon::Horizon::reset

(

self

)

Definition at line 197 of file horizon/__init__.py.

def clearpath::horizon::Horizon::restore_system_config	(		self,
			passcode = 0x3A18,
			flags = 0x1
	)

Definition at line 298 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_absolute_joint_position	(		self,
			angles = {0:0.0}
	)

Definition at line 276 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_accelerometer_config	(		self,
			passcode = 0,
			x_offset = 0.0,
			x_scale = 0.0,
			y_offset = 0.0,
			y_scale = 0.0,
			z_offset = 0.0,
			z_scale = 0.0
	)

Definition at line 331 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_ackermann_output	(		self,
			steering = 0.0,
			throttle = 0.0,
			brake = 0.0
	)

Definition at line 246 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_battery_estimation_config	(		self,
			passcode = 0.0,
			offsets = [ 0.0 ],
			scales = [ 0.0 ]
	)

Definition at line 340 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_config	(		self,
			index = 0,
			value = 0.0
	)

Definition at line 221 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_control_flags	(		self,
			passcode = 0,
			flags = 0x00000000
	)

Definition at line 215 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_current_sensor_config	(		self,
			passcode = 0,
			offsets = [ 0.0 ],
			scales = [ 0.0 ]
	)

Definition at line 304 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_differential_control	(		self,
			left_p = 0.0,
			left_i = 0.0,
			left_d = 0.0,
			left_ffwd = 0.0,
			left_stic = 0.0,
			left_sat = 0.0,
			right_p = 0.0,
			right_i = 0.0,
			right_d = 0.0,
			right_ffwd = 0.0,
			right_stic = 0.0,
			right_sat = 0.0
	)

Definition at line 231 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_differential_current	(		self,
			left = 0.0,
			right = 0.0
	)

Definition at line 228 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_differential_current_control	(		self,
			left_p = 0.0,
			left_i = 0.0,
			left_d = 0.0,
			left_ffwd = 0.0,
			left_stic = 0.0,
			left_sat = 0.0,
			right_p = 0.0,
			right_i = 0.0,
			right_d = 0.0,
			right_ffwd = 0.0,
			right_stic = 0.0,
			right_sat = 0.0
	)

Definition at line 237 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_differential_output	(		self,
			left = 0.0,
			right = 0.0
	)

Definition at line 243 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_differential_speed	(		self,
			left_speed = 0.0,
			right_speed = 0.0,
			left_accel = 0.0,
			right_accel = 0.0
	)

Definition at line 224 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_encoders_config	(		self,
			ppr = [ 0.0 ],
			scales = [ 0.0 ]
	)

Definition at line 337 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_end_effector_pose	(		self,
			x = 0.0,
			y = 0.0,
			z = 0.0,
			roll = 0.0,
			pitch = 0.0,
			yaw = 0.0
	)

Definition at line 292 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_end_effector_position	(		self,
			x = 0.0,
			y = 0.0,
			z = 0.0
	)

Definition at line 289 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_gear	(		self,
			gear = 0
	)

Definition at line 261 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_gpadc_output	(		self,
			values = {0:0}
	)

Definition at line 264 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_gpio_direction	(		self,
			mask = 0,
			direction = 0
	)

Definition at line 267 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_gpio_output	(		self,
			mask = 0,
			output = 0
	)

Definition at line 270 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_gyro_config	(		self,
			passcode = 0,
			roll_offset = 0.0,
			roll_scale = 0.0,
			pitch_offset = 0.0,
			pitch_scale = 0.0,
			yaw_offset = 0.0,
			yaw_scale = 0.0
	)

Definition at line 325 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_joint_control	(		self,
			joint = 0,
			p = 0.0,
			i = 0.0,
			d = 0.0,
			feed = 0.0,
			stiction = 0.0,
			limit = 0.0
	)

Definition at line 282 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_joint_homing	(		self,
			joint = 0
	)

Definition at line 286 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_magnetometer_config	(		self,
			passcode = 0,
			x_offset = 0.0,
			x_scale = 0.0,
			y_offset = 0.0,
			y_scale = 0.0,
			z_offset = 0.0,
			z_scale = 0.0
	)

Definition at line 319 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_max_accel	(		self,
			forward = 0.0,
			reverse = 0.0
	)

Definition at line 258 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_max_speed	(		self,
			forward = 0.0,
			reverse = 0.0
	)

Definition at line 255 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_orientation_sensor_config	(		self,
			passcode = 0,
			roll_offset = 0.0,
			roll_scale = 0.0,
			pitch_offset = 0.0,
			pitch_scale = 0.0,
			yaw_offset = 0.0,
			yaw_scale = 0.0
	)

Definition at line 313 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_pan_tilt_zoom	(		self,
			mount = 0,
			pan = 0.0,
			tilt = 0.0,
			zoom = 1.0
	)

Definition at line 273 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_platform_info	(		self,
			passcode = 0,
			model = '',
			revision = 0,
			serial = 0
	)

Definition at line 203 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_platform_kinematics	(		self,
			passcode = 0,
			track = 0.0,
			wheelbase = 0.0
	)

Definition at line 212 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_platform_name	(		self,
			name = 'Clearpath1'
	)

Definition at line 206 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_platform_time	(		self,
			time = 0
	)

Definition at line 209 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_relative_joint_position	(		self,
			angles = {0:0.0}
	)

Definition at line 279 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_reset

(

self

)

Definition at line 295 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_safety_status	(		self,
			flags = 0x0000
	)

Definition at line 218 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_temperature_sensor_config	(		self,
			passcode = 0,
			offsets = [ 0.0 ],
			scales = [ 0.0 ]
	)

Definition at line 310 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_turn	(		self,
			trans = 0.0,
			rad = 0.0,
			accel = 0.0
	)

Definition at line 252 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_velocity	(		self,
			trans = 0.0,
			rot = 0.0,
			accel = 0.0
	)

Definition at line 249 of file horizon/__init__.py.

def clearpath::horizon::Horizon::set_voltage_sensor_config	(		self,
			passcode = 0,
			offsets = [ 0.0 ],
			scales = [ 0.0 ]
	)

Definition at line 307 of file horizon/__init__.py.

def clearpath::horizon::Horizon::store_system_config	(		self,
			passcode = 0x3A18
	)

Definition at line 301 of file horizon/__init__.py.

---

Member Data Documentation

clearpath::horizon::Horizon::_protocol [private]

Definition at line 161 of file horizon/__init__.py.

clearpath::horizon::Horizon::version

Definition at line 179 of file horizon/__init__.py.

tuple clearpath::horizon::Horizon::version = (1, 1) [static]

Definition at line 131 of file horizon/__init__.py.

---

Property Documentation

clearpath::horizon::Horizon::alive = property(fget=is_alive, doc="Horizon Device Alive") [static]

Definition at line 626 of file horizon/__init__.py.

clearpath::horizon::Horizon::device_time = property(fget=get_device_time, doc="Horizon Device Time") [static]

Definition at line 627 of file horizon/__init__.py.

clearpath::horizon::Horizon::opened = property(fget=is_open, doc="Horizon Device Open") [static]

Definition at line 628 of file horizon/__init__.py.

clearpath::horizon::Horizon::start_time = property(fget=get_start_time, doc="Horizon Start Time") [static]

Definition at line 629 of file horizon/__init__.py.

---

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

• horizon/__init__.py