Public Member Functions | |
| def | __init__ |
| def | angle_to_encoder |
| def | angvel_to_bytes |
| def | bytes_to_angvel |
| def | clip_angle |
| def | clip_angvel |
| def | encoder_to_angle |
Public Attributes | |
| series | |
| servo_id | |
| settings | |
Class to use a robotis RX-28 or RX-64 servo.
Definition at line 838 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.__init__ | ( | self, | |
| servo_id, | |||
series = 'RX' |
|||
| ) |
servo_id - servo ids connected to USB2Dynamixel 1,2,3,4 ... (1 to 253)
[0 is broadcast if memory serves]
series - Just a convenience for defining "good" defaults on MX series.
When set to "MX" it uses these values, otherwise it uses values
better for AX / RX series. Any of the defaults can be overloaded
on a servo-by-servo bases in servo_config.py
Definition at line 841 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.angle_to_encoder | ( | self, | |
| ang | |||
| ) |
return encoder position for given angle (radians)
Definition at line 894 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.angvel_to_bytes | ( | self, | |
| angvel | |||
| ) |
Convert Angular velocity, in rad/sec, to hi, lo bytes.
Definition at line 926 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.bytes_to_angvel | ( | self, | |
| hi, | |||
| lo | |||
| ) |
returns the current angular velocity from hi, lo bytes
Definition at line 939 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.clip_angle | ( | self, | |
| ang | |||
| ) |
Clip commanded joint angles to within the allowed range.
Definition at line 912 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.clip_angvel | ( | self, | |
| angvel | |||
| ) |
Clip commanded velocity to below the allowed maximum. negative angvels will be set to maximum.
Definition at line 951 of file lib_dynamixel.py.
| def robotis.lib_dynamixel.Robotis_Servo.encoder_to_angle | ( | self, | |
| enc_val | |||
| ) |
return angular position (rad) from given encoder position
Definition at line 903 of file lib_dynamixel.py.
Definition at line 847 of file lib_dynamixel.py.
Definition at line 847 of file lib_dynamixel.py.
Definition at line 847 of file lib_dynamixel.py.