Inheritance diagram for arbotix_python.diff_controller.DiffController:

Public Member Functions
def	__init__
	Constructs a Controller instance.
def	cmdVelCb
def	getDiagnostics
def	setup
	Controller Specification:
def	shutdown
	Stop the controller, do any hardware shutdown needed.
def	startup
	Start the controller, do any hardware setup needed.
def	status
def	update
	Do any read/writes to device.
def	write
Public Attributes
	accel_limit
	base_frame_id
	base_width
	dr
	dx
	enc_left
	enc_right
	joint_names
	joint_positions
	joint_velocities
	Kd
	Ki
	Ko
	Kp
	last_cmd
	max_accel
	odom_frame_id
	odomBroadcaster
	odomPub
	pause
	rate
	t_delta
	t_next
	th
	then
	ticks_meter
	timeout
	v_des_left
	v_des_right
	v_left
	v_right
	x
	y

Detailed Description

Controller to handle movement & odometry feedback for a differential 
        drive mobile base.

Definition at line 44 of file diff_controller.py.

Constructor & Destructor Documentation

def arbotix_python.diff_controller.DiffController.__init__	(	self,
		device,
		name
	)

Constructs a Controller instance.

Parameters:

device	The arbotix instance.
name	The controller name.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Member Function Documentation

def arbotix_python.diff_controller.DiffController.cmdVelCb	(	self,
		req
	)

Handle movement requests.

Definition at line 206 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.getDiagnostics ( self )

Get a diagnostics status.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 217 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.setup	(	self,
		kp,
		kd,
		ki,
		ko
	)

Controller Specification:

setup: Kp, Kd, Ki, Ko (all unsigned char)

write: left_speed, right_speed (2-byte signed, ticks per frame)

status: left_enc, right_enc (4-byte signed)

Definition at line 240 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.shutdown ( self )

Stop the controller, do any hardware shutdown needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 202 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.startup ( self )

Start the controller, do any hardware setup needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 99 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.status ( self )

read 32-bit (signed) encoder values.

Definition at line 250 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.update ( self )

Do any read/writes to device.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 103 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.write	(	self,
		left,
		right
	)

Send a closed-loop speed. Base PID loop runs at 30Hz, these values
are therefore in ticks per 1/30 second.

Definition at line 243 of file diff_controller.py.

Member Data Documentation

arbotix_python::diff_controller.DiffController::accel_limit

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::base_frame_id

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::base_width

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::dr

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::dx

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::enc_left

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::enc_right

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::joint_names

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::joint_positions

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::joint_velocities

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::Kd

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::Ki

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::Ko

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::Kp

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::last_cmd

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::max_accel

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::odom_frame_id

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::odomBroadcaster

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::odomPub

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::pause

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::rate

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::t_delta

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::t_next

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::th

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::then

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::ticks_meter

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::timeout

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::v_des_left

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::v_des_right

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::v_left

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::v_right

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::x

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller.DiffController::y

Definition at line 47 of file diff_controller.py.

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

diff_controller.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation