Namespaces
namespace	srv
Functions
def	checkEncoders
def	diagnosticsCallback
def	encoderBoardPositionChange
def	initMotorAndEncoderBoards
def	left_move
def	leftEncoderUpdated
def	mcAttached
def	mcError
def	mcVelocityChanged
def	move
def	right_move
def	rightEncoderUpdated
def	sendEncoderPosition
def	setupMoveService
def	stop
Variables
string	__author__ = 'Bill Mania <bmania@coroware.com>'
string	__version__ = '1'
int	diagnosticPub = 0
string	encoderBoardDisconnected = "Phidgets Encoder board disconnected - Please make sure it is connected, try to disconnect and reconnect it, or restart"
int	encoders = 0
	encoders_inverted = False
int	encodersError = 0
string	encoderValueError = "Cannot get encoder value - Please make sure the encoder board and encoders are connected"
int	leftEncoderPosition = 0
int	leftEncoderPub = 0
int	leftPosition = 0
int	leftSpeed = 0
int	leftWheels = 0
int	maxAcceleration = 0
int	maxSpeed = 100
int	minAcceleration = 0
int	minSpeed = 100
int	motorControl = 0
string	motorControllerDisconnected = "Phidgets Motor controller disconnected - Please make sure it is connected, try to disconnect and reconnect it, or restart"
int	motorControlRight = 0
	motors_inverted = False
int	motorsError = 0
string	motorSpeedError = "Cannot Set Motor Speed - Make sure the Phidget Motor controller board has not been disconnected and the speed is within the range"
float	pastCurrentLeft = 0.0
float	pastCurrentRight = 0.0
	phidget1065 = False
int	posdataPub = 0
int	rightEncoderPosition = 1
int	rightEncoderPub = 0
int	rightPosition = 0
int	rightSpeed = 0
int	rightWheels = 1
	stop_when_obstacle = False
int	timer = 0

Function Documentation

def PhidgetMotor.checkEncoders ( )

Definition at line 335 of file PhidgetMotor.py.

def PhidgetMotor.diagnosticsCallback ( event )

Definition at line 478 of file PhidgetMotor.py.

def PhidgetMotor.encoderBoardPositionChange ( e )

Definition at line 300 of file PhidgetMotor.py.

def PhidgetMotor.initMotorAndEncoderBoards ( )

Definition at line 387 of file PhidgetMotor.py.

def PhidgetMotor.left_move ( request )

Definition at line 201 of file PhidgetMotor.py.

def PhidgetMotor.leftEncoderUpdated ( e )

Definition at line 267 of file PhidgetMotor.py.

def PhidgetMotor.mcAttached ( e )

Definition at line 255 of file PhidgetMotor.py.

def PhidgetMotor.mcError ( e )

Definition at line 258 of file PhidgetMotor.py.

def PhidgetMotor.mcVelocityChanged ( e )

Definition at line 262 of file PhidgetMotor.py.

def PhidgetMotor.move ( request )

Definition at line 113 of file PhidgetMotor.py.

def PhidgetMotor.right_move ( request )

move the right wheel as requested. This function doesn't use timer, and doesn't setup acceleration. 
   However it is used by the differential drive package to be able to command the robot with twist messages.

Definition at line 224 of file PhidgetMotor.py.

def PhidgetMotor.rightEncoderUpdated ( e )

Definition at line 284 of file PhidgetMotor.py.

def PhidgetMotor.sendEncoderPosition ( )

Definition at line 313 of file PhidgetMotor.py.

def PhidgetMotor.setupMoveService ( )

Definition at line 518 of file PhidgetMotor.py.

def PhidgetMotor.stop ( )

Definition at line 95 of file PhidgetMotor.py.

Variable Documentation

string PhidgetMotor::__author__ = 'Bill Mania <bmania@coroware.com>'

Definition at line 39 of file PhidgetMotor.py.

string PhidgetMotor::__version__ = '1'

Definition at line 40 of file PhidgetMotor.py.

int PhidgetMotor::diagnosticPub = 0

Definition at line 78 of file PhidgetMotor.py.

string PhidgetMotor::encoderBoardDisconnected = "Phidgets Encoder board disconnected - Please make sure it is connected, try to disconnect and reconnect it, or restart"

Definition at line 90 of file PhidgetMotor.py.

int PhidgetMotor::encoders = 0

Definition at line 63 of file PhidgetMotor.py.

PhidgetMotor::encoders_inverted = False

Definition at line 57 of file PhidgetMotor.py.

int PhidgetMotor::encodersError = 0

Definition at line 80 of file PhidgetMotor.py.

string PhidgetMotor::encoderValueError = "Cannot get encoder value - Please make sure the encoder board and encoders are connected"

Definition at line 91 of file PhidgetMotor.py.

int PhidgetMotor::leftEncoderPosition = 0

Definition at line 64 of file PhidgetMotor.py.

int PhidgetMotor::leftEncoderPub = 0

Definition at line 74 of file PhidgetMotor.py.

int PhidgetMotor::leftPosition = 0

Definition at line 76 of file PhidgetMotor.py.

int PhidgetMotor::leftSpeed = 0

Definition at line 84 of file PhidgetMotor.py.

int PhidgetMotor::leftWheels = 0

Definition at line 66 of file PhidgetMotor.py.

int PhidgetMotor::maxAcceleration = 0

Definition at line 69 of file PhidgetMotor.py.

int PhidgetMotor::maxSpeed = 100

Definition at line 71 of file PhidgetMotor.py.

int PhidgetMotor::minAcceleration = 0

Definition at line 68 of file PhidgetMotor.py.

int PhidgetMotor::minSpeed = 100

Definition at line 70 of file PhidgetMotor.py.

int PhidgetMotor::motorControl = 0

Definition at line 61 of file PhidgetMotor.py.

string PhidgetMotor::motorControllerDisconnected = "Phidgets Motor controller disconnected - Please make sure it is connected, try to disconnect and reconnect it, or restart"

Definition at line 88 of file PhidgetMotor.py.

int PhidgetMotor::motorControlRight = 0

Definition at line 62 of file PhidgetMotor.py.

PhidgetMotor::motors_inverted = False

Definition at line 56 of file PhidgetMotor.py.

int PhidgetMotor::motorsError = 0

Definition at line 79 of file PhidgetMotor.py.

string PhidgetMotor::motorSpeedError = "Cannot Set Motor Speed - Make sure the Phidget Motor controller board has not been disconnected and the speed is within the range"

Definition at line 89 of file PhidgetMotor.py.

float PhidgetMotor::pastCurrentLeft = 0.0

Definition at line 82 of file PhidgetMotor.py.

float PhidgetMotor::pastCurrentRight = 0.0

Definition at line 83 of file PhidgetMotor.py.

PhidgetMotor::phidget1065 = False

Definition at line 60 of file PhidgetMotor.py.

int PhidgetMotor::posdataPub = 0

Definition at line 73 of file PhidgetMotor.py.

int PhidgetMotor::rightEncoderPosition = 1

Definition at line 65 of file PhidgetMotor.py.

int PhidgetMotor::rightEncoderPub = 0