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Definition at line 197 of file sim_actuator.py.
Constructor & Destructor Documentation
Member Function Documentation
Command actuator to do relative move.
@param dx = encoder ticks to move.
@returns time (in seconds) required to get there.
This calculation assumes a triangular velocity profile with
constant acceleration |a|, applied first in one direction,
then in the other.
Erase any previous plan, then move the actuator in two steps:
(1) accelerate in direction requested;
(2) decelerate to zero velocity
The real device supports a trapezoidal velocity profile with a
maximum velocity (vMax). Since it takes a long time to reach
vMax, this model ignores that detail, which does not seem to
matter much in practice.
Definition at line 219 of file sim_actuator.py.
Member Data Documentation
The documentation for this class was generated from the following file: