Public Member Functions
def	__init__
def	deserialize
def	deserialize_numpy
def	serialize
def	serialize_numpy
Public Attributes
	cmd_duration_ms
	cmd_valve_muscle
Private Member Functions
def	_get_types
Static Private Attributes
list	__slots__ = ['cmd_valve_muscle','cmd_duration_ms']
string	_full_text
	_has_header = False
string	_md5sum = "1a35a9f185150fc2bca2640471eeb55f"
list	_slot_types = ['int8[2]','uint64[2]']
string	_type = "sr_robot_msgs/JointMuscleValveControllerCommand"

Detailed Description

Definition at line 8 of file _JointMuscleValveControllerCommand.py.

Constructor & Destructor Documentation

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand.__init__	(	self,
		args,
		kwds
	)

Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes.  You cannot mix in-order arguments and keyword arguments.

The available fields are:
   cmd_valve_muscle,cmd_duration_ms

:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.

Definition at line 40 of file _JointMuscleValveControllerCommand.py.

Member Function Documentation

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand._get_types ( self ) [private]

internal API method

Definition at line 65 of file _JointMuscleValveControllerCommand.py.

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand.deserialize	(	self,
		str
	)

unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``

Definition at line 82 of file _JointMuscleValveControllerCommand.py.

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand.deserialize_numpy	(	self,
		str,
		numpy
	)

unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module

Definition at line 112 of file _JointMuscleValveControllerCommand.py.

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand.serialize	(	self,
		buff
	)

serialize message into buffer
:param buff: buffer, ``StringIO``

Definition at line 71 of file _JointMuscleValveControllerCommand.py.

def sr_robot_msgs.msg._JointMuscleValveControllerCommand.JointMuscleValveControllerCommand.serialize_numpy	(	self,
		buff,
		numpy
	)

serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module

Definition at line 100 of file _JointMuscleValveControllerCommand.py.

Member Data Documentation

list sr_robot_msgs::msg::_JointMuscleValveControllerCommand.JointMuscleValveControllerCommand::__slots__ = ['cmd_valve_muscle','cmd_duration_ms'] [static, private]

Definition at line 37 of file _JointMuscleValveControllerCommand.py.

string sr_robot_msgs::msg::_JointMuscleValveControllerCommand.JointMuscleValveControllerCommand::_full_text [static, private]

Initial value:

"""# This command will allow the user to specify a separate command for each of the two muscles that control the joint.
# The user will also specify a duration in ms for that command. During this duration the command will be sent to the hand
# every ms. 
# Once this duration period has elapsed, a command of 0 will be sent to the muscle (meaning both the filling and emptying valves for that 
# muscle remain closed), until a new command is received
# A duration of 0 means that there is no timeout, so the valve command will be sent to the muscle until a different valve command is received.
# BE CAREFUL WHEN USING A DURATION OF 0 AS THIS COULD EVENTUALLY DAMAGE THE MUSCLE

# Allowed values for the cmd_valve_muscle are integers from -4 to +4.
# +4 the filling valve is open during a full ms cycle. Emptying valve is closed
# +3 the filling valve is open during 0.75 ms and closed during 0.25 ms in a 1 ms cycle. Emptying valve is closed
# +2 the filling valve is open during 0.5 ms and closed during 0.5 ms in a 1 ms cycle. Emptying valve is closed
# +1 the filling valve is open during 0.25 ms and closed during 0.75 ms in a 1 ms cycle. Emptying valve is closed
# 0 both valves (filling and emptying) remain closed in a 1 ms cycle
# ...
# -3 the emptying valve is open during 0.75 ms and closed during 0.25 ms in a 1 ms cycle. Filling valve is closed
# -4 the emptying valve is open during a full ms cycle. Filling valve is closed

int8[2] cmd_valve_muscle
uint64[2] cmd_duration_ms




"""