Public Member Functions
def	__del__
def	__init__
def	broadcast
def	check_mode
def	checkbits
def	disengage_brake
def	engage_brake
def	engage_brake_on_without_trajectory
def	engage_brake_when_not_servoing
def	estop
def	get_factor
def	get_mode
def	get_motor_temperature_C
def	get_motor_temperature_F
def	get_motor_torque
def	get_position
def	get_position_meters
def	get_status_byte
def	get_status_word
def	get_variable
	reads a variable.
def	go
def	go_height
def	go_height_blocking
def	inputs_init
def	limit_acceleration
def	limit_position
def	limit_velocity
def	move_position
def	nadir
def	report_and_clear
def	reset
def	reset_serial
def	servo_start
def	set_acceleration
def	set_origin
def	set_pos_absolute
def	set_pos_relative
def	set_timeout
def	set_torque
def	set_velocity
def	torque_go_down
def	torque_go_up
def	torque_move_position
def	turn_off
def	use_position_mode
def	use_torque_mode
def	use_velocity_mode
def	zenith
Public Attributes
	brake_engaged
	broadcaster
	calib
	calibrated
	dev
	last_position
	max_command_retries
	robot
	serial_lock
Static Public Attributes
	servo = None
float	zero_bias = 0.004
Private Member Functions
def	__lock_write

Detailed Description

   Basic Zenither interface
   Note: servo controller will crash if two different processes try to write to
         the serial interface at the same time

Definition at line 90 of file zenither.py.

Constructor & Destructor Documentation

def zenither.zenither.Zenither.__init__	(	self,
		robot,
		max_command_retries = `15`,
		dev = `"/dev/robot/zenither"`,
		pose_read_thread = `False`
	)

robot- 'El-E' or 'HRL2'
    pose_read_thread - if you want a separate thread that constantly reads zenither height
               and publishes using ROS.

Definition at line 99 of file zenither.py.

def zenither.zenither.Zenither.__del__ ( self )

Definition at line 189 of file zenither.py.

Member Function Documentation

def zenither.zenither.Zenither.__lock_write	(	self,
		line
	)	`[private]`

Definition at line 194 of file zenither.py.

def zenither.zenither.Zenither.broadcast ( self )

Definition at line 137 of file zenither.py.

def zenither.zenither.Zenither.check_mode ( self )

Definition at line 702 of file zenither.py.

def zenither.zenither.Zenither.checkbits ( self )

Definition at line 705 of file zenither.py.

def zenither.zenither.Zenither.disengage_brake ( self )

Definition at line 748 of file zenither.py.

def zenither.zenither.Zenither.engage_brake ( self )

Definition at line 741 of file zenither.py.

def zenither.zenither.Zenither.engage_brake_on_without_trajectory ( self )

Definition at line 763 of file zenither.py.

def zenither.zenither.Zenither.engage_brake_when_not_servoing ( self )

Definition at line 755 of file zenither.py.

def zenither.zenither.Zenither.estop ( self )

Definition at line 284 of file zenither.py.

def zenither.zenither.Zenither.get_factor	(	self,
		type = `'vel_factor'`
	)

Definition at line 252 of file zenither.py.

def zenither.zenither.Zenither.get_mode ( self )

Definition at line 232 of file zenither.py.

def zenither.zenither.Zenither.get_motor_temperature_C ( self )

Definition at line 727 of file zenither.py.

def zenither.zenither.Zenither.get_motor_temperature_F ( self )

Definition at line 724 of file zenither.py.

def zenither.zenither.Zenither.get_motor_torque ( self )

Definition at line 716 of file zenither.py.

def zenither.zenither.Zenither.get_position ( self )

Definition at line 312 of file zenither.py.

def zenither.zenither.Zenither.get_position_meters ( self )

Definition at line 321 of file zenither.py.

def zenither.zenither.Zenither.get_status_byte ( self )

Definition at line 211 of file zenither.py.

def zenither.zenither.Zenither.get_status_word ( self )

Definition at line 218 of file zenither.py.

def zenither.zenither.Zenither.get_variable	(	self,
		var
	)

reads a variable.

(page 27 of animatics manual) e.g. var = 'a' will read the variable a.

Definition at line 305 of file zenither.py.

def zenither.zenither.Zenither.go ( self )

Definition at line 276 of file zenither.py.

def zenither.zenither.Zenither.go_height	(	self,
		z,
		function = `None`,
		down_torque = `0`,
		up_torque = `200`
	)

Definition at line 570 of file zenither.py.

def zenither.zenither.Zenither.go_height_blocking	(	self,
		height
	)

takes zenither up or down to height (moves slowly)
    blocking call

Definition at line 562 of file zenither.py.

def zenither.zenither.Zenither.inputs_init ( self )

Definition at line 735 of file zenither.py.

def zenither.zenither.Zenither.limit_acceleration	(	self,
		acceleration
	)

Definition at line 624 of file zenither.py.

def zenither.zenither.Zenither.limit_position	(	self,
		position
	)

Definition at line 608 of file zenither.py.

def zenither.zenither.Zenither.limit_velocity	(	self,
		velocity
	)

Definition at line 614 of file zenither.py.

def zenither.zenither.Zenither.move_position	(	self,
		position,
		velocity = `None`,
		acceleration = `None`,
		blocking = `True`,
		relative = `False`,
		approximate_pose = `True`
	)

Definition at line 634 of file zenither.py.

def zenither.zenither.Zenither.nadir	(	self,
		torque = `None`
	)

Definition at line 399 of file zenither.py.

def zenither.zenither.Zenither.report_and_clear ( self )

Definition at line 225 of file zenither.py.

def zenither.zenither.Zenither.reset ( self )

Definition at line 200 of file zenither.py.

def zenither.zenither.Zenither.reset_serial ( self )

Definition at line 181 of file zenither.py.

def zenither.zenither.Zenither.servo_start	(	self,
		max_command_retries
	)

Definition at line 140 of file zenither.py.

def zenither.zenither.Zenither.set_acceleration	(	self,
		a
	)

Sets the acceleration in meters/sec^2

Definition at line 256 of file zenither.py.

def zenither.zenither.Zenither.set_origin ( self )

Definition at line 270 of file zenither.py.

def zenither.zenither.Zenither.set_pos_absolute	(	self,
		p
	)

Sets the absolute position in meters

Definition at line 289 of file zenither.py.

def zenither.zenither.Zenither.set_pos_relative	(	self,
		p
	)

Sets the relative position in meters

Definition at line 296 of file zenither.py.

def zenither.zenither.Zenither.set_timeout	(	self,
		timeout
	)

Definition at line 203 of file zenither.py.

def zenither.zenither.Zenither.set_torque	(	self,
		t
	)

Definition at line 335 of file zenither.py.

def zenither.zenither.Zenither.set_velocity	(	self,
		v
	)

Sets the velocity in meters/sec

Definition at line 263 of file zenither.py.

def zenither.zenither.Zenither.torque_go_down	(	self,
		height,
		start_torque,
		dist_list = `[0.15`
	)

dist list - how much distance to move slow and snail.
    height - is in zenither coord. not height of carriage above the
     ground.

Definition at line 466 of file zenither.py.

def zenither.zenither.Zenither.torque_go_up	(	self,
		height,
		start_torque,
		dist_list = `[0.15`
	)

dist list - how much distance to move slow and snail.
    height - is in zenither coord. not height of carriage above the
     ground.

Definition at line 515 of file zenither.py.

def zenither.zenither.Zenither.torque_move_position	(	self,
		height,
		speed = `'fast'`,
		exception = `True`
	)

speed - 'fast','slow','snail'
    exception - if True then throws exception in case of collision.
    moves till height or if it detects collision.
    height - height of the bottom point of carriage above the ground.

Definition at line 416 of file zenither.py.

def zenither.zenither.Zenither.turn_off ( self )

Definition at line 208 of file zenither.py.

def zenither.zenither.Zenither.use_position_mode ( self )

Definition at line 239 of file zenither.py.

def zenither.zenither.Zenither.use_torque_mode ( self )

Definition at line 249 of file zenither.py.

def zenither.zenither.Zenither.use_velocity_mode ( self )

Definition at line 244 of file zenither.py.