Public Member Functions | |
| def | __init__ |
| def | disable_torque |
| def | enable_torque |
| def | init_cont_turn |
| def | is_moving |
| def | kill_cont_turn |
| def | move_angle |
| def | move_to_encoder |
| def | process_err |
| def | read_address |
| def | read_angle |
| def | read_encoder |
| def | read_load |
| def | read_temperature |
| def | read_voltage |
| def | receive_reply |
| def | send_instruction |
| def | send_serial |
| def | set_angvel |
| def | write_address |
| def | write_id |
Public Attributes | |
| dyn | |
| return_delay | |
| servo_id | |
| settings | |
Private Member Functions | |
| def | __calc_checksum |
Class to use a robotis RX-28 or RX-64 servo.
Definition at line 93 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.__init__ | ( | self, | |
| USB2Dynamixel, | |||
| servo_id, | |||
series = None |
|||
| ) |
USB2Dynamixel - USB2Dynamixel_Device object to handle serial port.
Handles threadsafe operation for multiple servos
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 96 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.__calc_checksum | ( | self, | |
| msg | |||
| ) | [private] |
Definition at line 281 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.disable_torque | ( | self | ) |
Definition at line 261 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.enable_torque | ( | self | ) |
Definition at line 258 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.init_cont_turn | ( | self | ) |
sets CCW angle limit to zero and allows continuous turning (good for wheels). After calling this method, simply use 'set_angvel' to command rotation. This rotation is proportional to torque according to Robotis documentation.
Definition at line 165 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.is_moving | ( | self | ) |
returns True if servo is moving.
Definition at line 177 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.kill_cont_turn | ( | self | ) |
resets CCW angle limits to allow commands through 'move_angle' again
Definition at line 172 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.move_angle | ( | self, | |
| ang, | |||
angvel = None, |
|||
blocking = True |
|||
| ) |
move to angle (radians)
Definition at line 221 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.move_to_encoder | ( | self, | |
| n | |||
| ) |
move to encoder position n
Definition at line 249 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.process_err | ( | self, | |
| err | |||
| ) |
Definition at line 322 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.read_address | ( | self, | |
| address, | |||
nBytes = 1 |
|||
| ) |
reads nBytes from address on the servo.
returns [n1,n2 ...] (list of parameters)
Definition at line 288 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.read_angle | ( | self | ) |
returns the current servo angle (radians)
Definition at line 213 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.read_encoder | ( | self | ) |
returns position in encoder ticks
Definition at line 206 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.read_load | ( | self | ) |
number proportional to the torque applied by the servo.
sign etc. might vary with how the servo is mounted.
Definition at line 195 of file lib_robotis.py.
returns the temperature (Celcius)
Definition at line 189 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.read_voltage | ( | self | ) |
returns voltage (Volts)
Definition at line 183 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.receive_reply | ( | self | ) |
Definition at line 325 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.send_instruction | ( | self, | |
| instruction, | |||
| id | |||
| ) |
Definition at line 303 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.send_serial | ( | self, | |
| msg | |||
| ) |
sends the command to the servo
Definition at line 339 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.set_angvel | ( | self, | |
| angvel | |||
| ) |
angvel - in rad/sec
Definition at line 264 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.write_address | ( | self, | |
| address, | |||
| data | |||
| ) |
writes data at the address.
data = [n1,n2 ...] list of numbers.
return [n1,n2 ...] (list of return parameters)
Definition at line 295 of file lib_robotis.py.
| def robotis.lib_robotis.Robotis_Servo.write_id | ( | self, | |
| id | |||
| ) |
changes the servo id
Definition at line 276 of file lib_robotis.py.
Definition at line 104 of file lib_robotis.py.
Definition at line 104 of file lib_robotis.py.
Definition at line 104 of file lib_robotis.py.
Definition at line 104 of file lib_robotis.py.