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brake::sim_actuator::Test Class Reference

List of all members.

Public Member Functions

def __init__
def check
def cmd
def plot
def run

Public Attributes

 dev
 plan
 plt
 verbose

Detailed Description

Definition at line 197 of file sim_actuator.py.


Member Function Documentation

def brake::sim_actuator::Test::__init__ (   self,
  verbose = False 
)

Definition at line 200 of file sim_actuator.py.

def brake::sim_actuator::Test::check (   self,
  value,
  expected,
  label = '' 
)

Definition at line 211 of file sim_actuator.py.

def brake::sim_actuator::Test::cmd (   self,
  dx 
)
Command actuator to do relative move.

@param dx = encoder ticks to move.
@returns time (in seconds) required to get there.

This calculation assumes a triangular velocity profile with
constant acceleration |a|, applied first in one direction,
then in the other.

Erase any previous plan, then move the actuator in two steps:

  (1) accelerate in direction requested;
  (2) decelerate to zero velocity

The real device supports a trapezoidal velocity profile with a
maximum velocity (vMax).  Since it takes a long time to reach
vMax, this model ignores that detail, which does not seem to
matter much in practice.

Definition at line 219 of file sim_actuator.py.

def brake::sim_actuator::Test::plot (   self,
  save = False 
)

Definition at line 274 of file sim_actuator.py.

def brake::sim_actuator::Test::run (   self,
  duration 
)

Definition at line 279 of file sim_actuator.py.


Member Data Documentation

Definition at line 203 of file sim_actuator.py.

Definition at line 204 of file sim_actuator.py.

Definition at line 207 of file sim_actuator.py.

Definition at line 202 of file sim_actuator.py.


The documentation for this class was generated from the following file:
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art_servo
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Mar 1 14:13:43 2013