servo_config.py
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00001 from math import radians
00002 
00003 port = '/dev/ttyUSB1'
00004 
00005 servo_param = {
00006     1: {'name': 'head_pan_joint', 
00007         'home_encoder': 512,
00008         'max_speed': radians(180),
00009         'max_ang': radians(145.),
00010         'min_ang': radians(-145.)
00011        }, 
00012     2: {'name': 'head_tilt_joint',
00013         'home_encoder': 512,
00014         'max_speed': radians(180),
00015         'max_ang': radians(145.),
00016         'min_ang': radians(-145.)
00017 
00018        }, 
00019     3: {'name': 'right_shoulder_pan_joint',
00020         'home_encoder': 512,
00021         'max_speed': radians(180),
00022         'max_ang': radians(360.),
00023         'min_ang': radians(-360.)
00024        }, 
00025     4: {'name': 'right_shoulder_lift_joint',
00026         'home_encoder': 512,
00027         'max_speed': radians(180),
00028         'max_ang': radians(360.),
00029         'min_ang': radians(-360.)
00030        }, 
00031     5: {'name': 'right_arm_roll_joint',
00032         'home_encoder': 512,
00033         'max_speed': radians(180),
00034         'max_ang': radians(360.),
00035         'min_ang': radians(-360.)
00036        }, 
00037     6: {'name': 'right_wrist_joint',
00038         'home_encoder': 512,
00039         'max_speed': radians(180),
00040         'max_ang': radians(360.),
00041         'min_ang': radians(-360.),
00042         'flipped': True
00043        }, 
00044     7: {'name': 'left_shoulder_pan_joint',
00045         'home_encoder': 512,
00046         'max_speed': radians(180),
00047         'max_ang': radians(360.),
00048         'min_ang': radians(-360.)
00049        }, 
00050     8: {'name': 'left_shoulder_lift_joint',
00051         'home_encoder': 512,
00052         'max_speed': radians(180),
00053         'max_ang': radians(360.),
00054         'min_ang': radians(-360.)
00055        }, 
00056     9: {'name': 'left_arm_roll_joint',
00057         'home_encoder': 512,
00058         'max_speed': radians(180),
00059         'max_ang': radians(360.),
00060         'min_ang': radians(-360.)
00061        }, 
00062     10: {'name': 'left_wrist_joint',
00063         'home_encoder': 512,
00064         'max_speed': radians(180),
00065         'max_ang': radians(360.),
00066         'min_ang': radians(-360.),
00067         'flipped': True
00068        }, 
00069     11: {'name': 'torso_joint',
00070         'home_encoder': 512,
00071         'max_speed': radians(180),
00072         'max_ang': radians(360.),
00073         'min_ang': radians(-360.)
00074        }, 
00075     12: {'name': 'left_elbow_joint',
00076         'home_encoder': 512,
00077         'max_speed': radians(180),
00078         'max_ang': radians(360.),
00079         'min_ang': radians(-360.)
00080        }, 
00081     13: {'name': 'right_elbow_joint',
00082         'home_encoder': 512,
00083         'max_speed': radians(180),
00084         'max_ang': radians(360.),
00085         'min_ang': radians(-360.)
00086        }
00087 }
00088 


pi_head_tracking_tutorial
Author(s): Patrick Goebel
autogenerated on Mon Oct 6 2014 03:27:15