servo_config.py
Go to the documentation of this file.
00001 from math import radians
00002 
00003 servo_param = {
00004     1: {'name': 'head_pan_joint', 
00005         'home_encoder': 512,
00006         'max_speed': radians(180),
00007         'max_ang': radians(145.),
00008         'min_ang': radians(-145.)
00009        }, 
00010     2: {'name': 'head_tilt_joint',
00011         'home_encoder': 512,
00012         'max_speed': radians(180),
00013         'max_ang': radians(360.),
00014         'min_ang': radians(-360.),
00015         'flipped': True
00016        }, 
00017     3: {'name': 'right_shoulder_pan_joint',
00018         'home_encoder': 512,
00019         'max_speed': radians(180),
00020         'max_ang': radians(360.),
00021         'min_ang': radians(-360.)
00022        }, 
00023     4: {'name': 'right_shoulder_lift_joint',
00024         'home_encoder': 512,
00025         'max_speed': radians(180),
00026         'max_ang': radians(360.),
00027         'min_ang': radians(-360.),
00028         'flipped': True
00029        }, 
00030     5: {'name': 'right_arm_roll_joint',
00031         'home_encoder': 512,
00032         'max_speed': radians(180),
00033         'max_ang': radians(360.),
00034         'min_ang': radians(-360.)
00035        }, 
00036     6: {'name': 'right_wrist_joint',
00037         'home_encoder': 512,
00038         'max_speed': radians(180),
00039         'max_ang': radians(360.),
00040         'min_ang': radians(-360.)
00041        }, 
00042     7: {'name': 'left_shoulder_pan_joint',
00043         'home_encoder': 512,
00044         'max_speed': radians(180),
00045         'max_ang': radians(360.),
00046         'min_ang': radians(-360.),
00047         'flipped': True
00048        }, 
00049     8: {'name': 'left_shoulder_lift_joint',
00050         'home_encoder': 512,
00051         'max_speed': radians(180),
00052         'max_ang': radians(360.),
00053         'min_ang': radians(-360.),
00054         'flipped': True
00055        }, 
00056     9: {'name': 'left_arm_roll_joint',
00057         'home_encoder': 512,
00058         'max_speed': radians(180),
00059         'max_ang': radians(360.),
00060         'min_ang': radians(-360.)
00061        }, 
00062     10: {'name': 'left_wrist_joint',
00063         'home_encoder': 512,
00064         'max_speed': radians(180),
00065         'max_ang': radians(360.),
00066         'min_ang': radians(-360.)
00067        }, 
00068     11: {'name': 'torso_joint',
00069         'home_encoder': 512,
00070         'max_speed': radians(180),
00071         'max_ang': radians(360.),
00072         'min_ang': radians(-360.)
00073        }, 
00074     12: {'name': 'left_elbow_joint',
00075         'home_encoder': 512,
00076         'max_speed': radians(180),
00077         'max_ang': radians(360.),
00078         'min_ang': radians(-360.)
00079        }, 
00080     13: {'name': 'right_elbow_joint',
00081         'home_encoder': 512,
00082         'max_speed': radians(180),
00083         'max_ang': radians(360.),
00084         'min_ang': radians(-360.)
00085        }
00086 }
00087 


pi_tracker
Author(s): Patrick Goebel
autogenerated on Tue Jan 7 2014 11:27:49