Public Member Functions | |
| def | __init__ |
| def | initialize |
| def | process_command |
| def | process_motor_states |
| def | process_set_compliance_margin |
| def | process_set_compliance_punch |
| def | process_set_compliance_slope |
| def | process_set_speed |
| def | process_set_torque_limit |
| def | process_torque_enable |
| def | rad_to_raw |
| def | raw_to_rad |
| def | set_compliance_margin |
| def | set_compliance_punch |
| def | set_compliance_slope |
| def | set_speed |
| def | set_torque_enable |
| def | set_torque_limit |
| def | start |
| def | stop |
Public Attributes | |
| command_sub | |
| compliance_margin | |
| compliance_marigin_service | |
| compliance_punch | |
| compliance_punch_service | |
| compliance_slope | |
| compliance_slope_service | |
| controller_namespace | |
| dxl_io | |
| joint_name | |
| joint_speed | |
| joint_state_pub | |
| motor_states_sub | |
| port_namespace | |
| running | |
| speed_service | |
| torque_limit | |
| torque_limit_service | |
| torque_service | |
Private Member Functions | |
| def | __ensure_limits |
Definition at line 64 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::__ensure_limits | ( | self | ) | [private] |
Definition at line 86 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::__init__ | ( | self, | ||
| dxl_io, | ||||
| controller_namespace, | ||||
| port_namespace | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 65 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::initialize | ( | self | ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 106 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_command | ( | self, | ||
| msg | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 169 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_motor_states | ( | self, | ||
| state_list | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 166 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_set_compliance_margin | ( | self, | ||
| req | ||||
| ) |
Definition at line 154 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_set_compliance_punch | ( | self, | ||
| req | ||||
| ) |
Definition at line 158 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_set_compliance_slope | ( | self, | ||
| req | ||||
| ) |
Definition at line 150 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_set_speed | ( | self, | ||
| req | ||||
| ) |
Definition at line 142 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_set_torque_limit | ( | self, | ||
| req | ||||
| ) |
Definition at line 162 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::process_torque_enable | ( | self, | ||
| req | ||||
| ) |
Definition at line 146 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::rad_to_raw | ( | self, | ||
| angle, | ||||
| initial_position_raw, | ||||
| flipped, | ||||
| encoder_ticks_per_radian | ||||
| ) |
angle is in radians
Definition at line 172 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::raw_to_rad | ( | self, | ||
| raw, | ||||
| initial_position_raw, | ||||
| flipped, | ||||
| radians_per_encoder_tick | ||||
| ) |
Definition at line 179 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_compliance_margin | ( | self, | ||
| margin | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 133 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_compliance_punch | ( | self, | ||
| punch | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 136 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_compliance_slope | ( | self, | ||
| slope | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 130 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_speed | ( | self, | ||
| speed | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 127 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_torque_enable | ( | self, | ||
| torque_enable | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 124 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::set_torque_limit | ( | self, | ||
| max_torque | ||||
| ) |
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 139 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::start | ( | self | ) |
Definition at line 109 of file joint_controller.py.
| def dynamixel_controllers::joint_controller::JointController::stop | ( | self | ) |
Definition at line 115 of file joint_controller.py.
Definition at line 112 of file joint_controller.py.
Definition at line 73 of file joint_controller.py.
Definition at line 82 of file joint_controller.py.
Definition at line 74 of file joint_controller.py.
Definition at line 83 of file joint_controller.py.
Definition at line 72 of file joint_controller.py.
Definition at line 81 of file joint_controller.py.
Definition at line 68 of file joint_controller.py.
Definition at line 67 of file joint_controller.py.
Definition at line 70 of file joint_controller.py.
Reimplemented in dynamixel_controllers::joint_position_controller::JointPositionController, dynamixel_controllers::joint_position_controller_dual_motor::JointPositionControllerDual, dynamixel_controllers::joint_torque_controller::JointTorqueController, and dynamixel_controllers::joint_torque_controller_dual_motor::JointTorqueControllerDualMotor.
Definition at line 71 of file joint_controller.py.
Definition at line 111 of file joint_controller.py.
Definition at line 113 of file joint_controller.py.
Definition at line 69 of file joint_controller.py.
Definition at line 66 of file joint_controller.py.
Definition at line 79 of file joint_controller.py.
Definition at line 75 of file joint_controller.py.
Definition at line 84 of file joint_controller.py.
Definition at line 80 of file joint_controller.py.
