Public Member Functions | Public Attributes | Private Member Functions
robotis.robotis_servo.robotis_servo Class Reference

List of all members.

Public Member Functions

def __init__
def disable_torque
def enable_torque
def is_moving
def move_angle
def print_encoder_value
def read_angle
def read_load
def read_location
def read_serial
def read_temperature
def read_voltage
def send_instruction
def set_angvel
def write_id
def write_location

Public Attributes


Private Member Functions

def __calc_checksum
def __move_to_encoder
def __open_serial
def __send_serial
def __torque_enable

Detailed Description

class to use a robotis servo.

Definition at line 40 of file

Constructor & Destructor Documentation

def robotis.robotis_servo.robotis_servo.__init__ (   self,
  baudrate = 57600,
  max_speed = math.radians(50) 
dev_name - name of serial device of the servo controller (e.g. '/dev/robot/servo0')
    servo_id - 2,3,4 ... (2 to 253)
    baudrate - for the servo controller.
    max_speed - max allowable speed for the servo (radians/sec)

Definition at line 43 of file

Member Function Documentation

def robotis.robotis_servo.robotis_servo.__calc_checksum (   self,
) [private]

Definition at line 210 of file

def robotis.robotis_servo.robotis_servo.__move_to_encoder (   self,
) [private]
move to encoder position n

Definition at line 134 of file

def robotis.robotis_servo.robotis_servo.__open_serial (   self,
) [private]

Definition at line 237 of file

def robotis.robotis_servo.robotis_servo.__send_serial (   self,
) [private]
sends the command to the servo

Definition at line 223 of file

def robotis.robotis_servo.robotis_servo.__torque_enable (   self,
) [private]

Definition at line 125 of file

Definition at line 131 of file

Definition at line 128 of file

returns True if servo is moving.

Definition at line 79 of file

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

Definition at line 140 of file

position in encoder ticks

Definition at line 106 of file

returns the current servo angle (radians)

Definition at line 97 of file

number proportional to the torque applied by the servo.
    sign etc. might vary with how the servo is mounted.

Definition at line 113 of file

def robotis.robotis_servo.robotis_servo.read_location (   self,
  nBytes = 1 
reads nBytes from address on the servo.
    returns [n1,n2 ...], error
    list of parameters, error byte.

Definition at line 192 of file

def robotis.robotis_servo.robotis_servo.read_serial (   self,
  nBytes = 1 

Definition at line 233 of file

returns the temperature (Celcius)

Definition at line 91 of file

returns voltage (Volts)

Definition at line 85 of file

def robotis.robotis_servo.robotis_servo.send_instruction (   self,

Definition at line 217 of file

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

Definition at line 172 of file

changes the servo id

Definition at line 180 of file

def robotis.robotis_servo.robotis_servo.write_location (   self,
writes data at the address.
    data = [n1,n2 ...] list of numbers.

Definition at line 185 of file

Member Data Documentation

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 of file

Definition at line 47 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