Public Member Functions | Public Attributes | Private Member Functions
robotis.lib_robotis.Robotis_Servo Class Reference

List of all members.

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


Private Member Functions

def __calc_checksum

Detailed Description

Class to use a robotis RX-28 or RX-64 servo.

Definition at line 93 of file

Constructor & Destructor Documentation

def robotis.lib_robotis.Robotis_Servo.__init__ (   self,
  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

Definition at line 96 of file

Member Function Documentation

def robotis.lib_robotis.Robotis_Servo.__calc_checksum (   self,
) [private]

Definition at line 281 of file

Definition at line 261 of file

Definition at line 258 of file

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

returns True if servo is moving.

Definition at line 177 of file

resets CCW angle limits to allow commands through 'move_angle' again

Definition at line 172 of file

def robotis.lib_robotis.Robotis_Servo.move_angle (   self,
  angvel = None,
  blocking = True 
move to angle (radians)

Definition at line 221 of file

move to encoder position n

Definition at line 249 of file

Definition at line 322 of file

def robotis.lib_robotis.Robotis_Servo.read_address (   self,
  nBytes = 1 
reads nBytes from address on the servo.
    returns [n1,n2 ...] (list of parameters)

Definition at line 288 of file

returns the current servo angle (radians)

Definition at line 213 of file

returns position in encoder ticks

Definition at line 206 of file

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

returns the temperature (Celcius)

Definition at line 189 of file

returns voltage (Volts)

Definition at line 183 of file

Definition at line 325 of file

def robotis.lib_robotis.Robotis_Servo.send_instruction (   self,

Definition at line 303 of file

sends the command to the servo

Definition at line 339 of file

def robotis.lib_robotis.Robotis_Servo.set_angvel (   self,
angvel - in rad/sec

Definition at line 264 of file

def robotis.lib_robotis.Robotis_Servo.write_address (   self,
writes data at the address.
    data = [n1,n2 ...] list of numbers.
    return [n1,n2 ...] (list of return parameters)

Definition at line 295 of file

changes the servo id

Definition at line 276 of file

Member Data Documentation

Definition at line 104 of file

Definition at line 104 of file

Definition at line 104 of file

Definition at line 104 of file

The documentation for this class was generated from the following file:

Author(s): Travis Deyle, Advait Jain, Marc Killpack, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:37:53