servo_config.py
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00001 import math
00002 
00003 # home position in encoder ticks for the servo.
00004 
00005 servo_param = {
00006 #    1: {                        # Default for new servo.  Please issue 'new_servo.write_id(new_id)' and setup your own home position!
00007 #        'home_encoder': 351
00008 #       }, 
00009     2: {                        # Tilting Hokuyo on El-E
00010         'home_encoder': 446
00011        }, 
00012     3: {                        # RFID Antenna Left Tilt
00013         'home_encoder': 377
00014        },
00015     4: {                        # RFID Antenna Right Tilt
00016         'home_encoder': 330
00017        },
00018     5: {                        # Tilting kinect on Cody
00019         'home_encoder': 447,
00020         'max_ang': math.radians(55.),
00021         'min_ang': math.radians(-80.)
00022        },
00023     6: {                        # EL-E stereohead Pan
00024         'home_encoder': 500,
00025         'max_ang': math.radians(90.),
00026         'min_ang': math.radians(-90.)
00027        },
00028     7: {                        # EL-E safetyscreen tilt.
00029         'home_encoder': 373
00030        },
00031     11: {                        # RFID Left Pan
00032         'home_encoder': 430,
00033         'max_ang': math.radians( 141.0 ),
00034         'min_ang': math.radians( -31.0 )
00035        },
00036     12: {                        # RFID Left Tilt
00037         'home_encoder': 507,
00038         'max_ang': math.radians( 46.0 ),
00039         'min_ang': math.radians( -36.0 )        
00040        },
00041     13: {                        # RFID Right Pan
00042         'home_encoder': 583,
00043         'max_ang': math.radians( 31.0 ),
00044         'min_ang': math.radians( -141.0 )        
00045        },
00046     14: {                        # RFID Right Tilt
00047         'home_encoder': 504,
00048         'max_ang': math.radians( 46.0 ),
00049         'min_ang': math.radians( -36.0 )        
00050        },
00051     15: {                        # Ear Flap on RFID El-E Right
00052         'home_encoder': 498
00053        },
00054     16: {                        # Pan Antenna on RFID El-E Left
00055         'home_encoder': 365
00056        },
00057     17: {                        # Tilt Antenna on RFID El-E Left
00058         'home_encoder': 504
00059        },
00060     18: {                        # EL-E stereohead Tilt
00061         'home_encoder': 495,
00062         'max_ang': math.radians(60.),
00063         'min_ang': math.radians(-20.)
00064        },
00065     19: {                        # Desktop System UTM
00066         'home_encoder': 633,
00067         'flipped': True
00068         },
00069     20: {                        # Desktop System Tilt
00070         'home_encoder': 381
00071         },
00072     21: {                        # Desktop System Pan
00073         'home_encoder': 589
00074         },
00075     22: {                        # Desktop System Roll
00076         'home_encoder': 454
00077         },
00078     23: {                        # Dinah Top
00079         'home_encoder': 379
00080         },
00081     24: {                        # Dinah Bottom
00082         'home_encoder': 365
00083         },
00084     25: {                        # Meka top Pan
00085         'home_encoder': 500
00086         },
00087     26: {                        # Meka top Tilt
00088         'home_encoder': 400
00089         },
00090     27: {                        # PR2 RFID Right Pan
00091         'home_encoder': 512
00092         },
00093     28: {                        # PR2 RFID Right Tilt
00094         'home_encoder': 506
00095         },
00096     29: {                        # PR2 RFID Left Pan
00097         'home_encoder': 544
00098         },
00099     30: {                        # PR2 RFID Left Tilt
00100         'home_encoder': 500
00101         },
00102     31: {                        # Playpen open/close
00103         'home_encoder': 381
00104         },
00105     32: {                        # Conveyor for playpen
00106         'home_encoder': 1
00107         }
00108 }
00109 


robotis
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