python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib Class Reference

List of all members.

Public Member Functions
def	__init__
def	activate
def	activate_joint_states
def	debug_callback
def	get_average_raw_value
def	get_effort
def	get_position
def	get_raw_value
def	get_velocity
def	joint_state_callback
def	on_close
def	sendupdate
def	set_pid
def	start_record
def	stop_record
Public Attributes
	callback
	compounds
	debug_subscriber
	efforts
	joint_state_subscriber
	msg_to_send
	pid_services
	positions
	publishers
	raw_values
	record_js_callback
	velocities
Static Public Attributes
list	sensors

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Detailed Description

Useful python library to communicate with the etherCAT hand.

Definition at line 30 of file etherCAT_hand_lib.py.

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Constructor & Destructor Documentation

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.__init__

(

self

)

Useful python library to communicate with the etherCAT hand.

Definition at line 44 of file etherCAT_hand_lib.py.

---

Member Function Documentation

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate

(

self

)

Definition at line 200 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate_joint_states

(

self

)

Definition at line 213 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.debug_callback	(		self,
			msg
	)

Definition at line 153 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_average_raw_value	(		self,
			sensor_name,
			number_of_samples = 10
	)

Get the average raw value for the given sensor, average on
number_of_samples

Definition at line 186 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_effort	(		self,
			joint_name
	)

Definition at line 114 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_position	(		self,
			joint_name
	)

Definition at line 87 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_raw_value	(		self,
			sensor_name
	)

Definition at line 166 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_velocity	(		self,
			joint_name
	)

Definition at line 101 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.joint_state_callback	(		self,
			msg
	)

Definition at line 156 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.on_close

(

self

)

Definition at line 228 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.sendupdate	(		self,
			joint_name,
			target,
			controller_type = "effort"
	)

Definition at line 79 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.set_pid	(		self,
			joint_name,
			pid_parameters
	)

Definition at line 135 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.start_record	(		self,
			joint_name,
			callback
	)

Definition at line 128 of file etherCAT_hand_lib.py.

def python_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.stop_record	(		self,
			joint_name
	)

Definition at line 131 of file etherCAT_hand_lib.py.

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Member Data Documentation

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::callback

Definition at line 131 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::compounds

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::debug_subscriber

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::efforts

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::joint_state_subscriber

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::msg_to_send

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::pid_services

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::positions

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::publishers

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::raw_values

Definition at line 46 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::record_js_callback

Definition at line 46 of file etherCAT_hand_lib.py.

list python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::sensors [static]

Initial value:

[ "FFJ1",  "FFJ2",  "FFJ3", "FFJ4",
                "MFJ1",  "MFJ2",  "MFJ3", "MFJ4",
                "RFJ1",  "RFJ2",  "RFJ3", "RFJ4",
                "LFJ1",  "LFJ2",  "LFJ3", "LFJ4", "LFJ5",
                "THJ1",  "THJ2",  "THJ3", "THJ4", "THJ5A", "THJ5B",
                "WRJ1A", "WRJ1B", "WRJ2",
                "ACCX",  "ACCY",  "ACCZ",
                "GYRX",  "GYRY",  "GYRZ",
                "AN0",   "AN1",   "AN2",  "AN3" ]

Definition at line 34 of file etherCAT_hand_lib.py.

python_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::velocities

Definition at line 46 of file etherCAT_hand_lib.py.

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

• etherCAT_hand_lib.py