arbotix_python::linear_controller::LinearJoint Class Reference

Inheritance diagram for arbotix_python::linear_controller::LinearJoint:

[legend]

List of all members.

Public Member Functions
def	__init__
	Constructs a Joint instance.
def	commandCb
def	getDiagnostics
def	interpolate
def	readingToPosition
def	setControlOutput
def	setCurrentFeedback
	Set the current position from feedback data.
Public Attributes
	cal
	cal_raw
	desired
	dirty
	keys
	last
	max
	max_speed
	min
	position
	velocity

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Detailed Description

Definition at line 40 of file linear_controller.py.

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Member Function Documentation

def arbotix_python::linear_controller::LinearJoint::__init__	(		self,
			device,
			name
	)

Constructs a Joint instance.

Parameters:

	device	The arbotix instance.
	name	The joint name.

Reimplemented from arbotix_python::joints::Joint.

Definition at line 41 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::commandCb	(		self,
			req
	)

Float64 style command input. 

Definition at line 116 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 104 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::interpolate	(		self,
			frame
	)

Get new output: 1 = increase position, -1 is decrease position. 

Reimplemented from arbotix_python::joints::Joint.

Definition at line 65 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::readingToPosition	(		self,
			reading
	)

Definition at line 127 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::setControlOutput	(		self,
			position
	)

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

Reimplemented from arbotix_python::joints::Joint.

Definition at line 94 of file linear_controller.py.

def arbotix_python::linear_controller::LinearJoint::setCurrentFeedback	(		self,
			raw_data
	)

Set the current position from feedback data.

Parameters:

raw_data

The current feedback.

Returns:

The current position, in radians/meters.

Reimplemented from arbotix_python::joints::Joint.

Definition at line 83 of file linear_controller.py.

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Member Data Documentation

arbotix_python::linear_controller::LinearJoint::cal

Definition at line 56 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::cal_raw

Definition at line 57 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::desired

Definition at line 46 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::dirty

Definition at line 44 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::keys

Definition at line 61 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::last

Reimplemented from arbotix_python::joints::Joint.

Definition at line 48 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::max

Definition at line 52 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::max_speed

Definition at line 53 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::min

Definition at line 51 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::position

Reimplemented from arbotix_python::joints::Joint.

Definition at line 45 of file linear_controller.py.

arbotix_python::linear_controller::LinearJoint::velocity

Reimplemented from arbotix_python::joints::Joint.

Definition at line 47 of file linear_controller.py.

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

• linear_controller.py