wheeled_robin_driver.wheeled_robin_driver.WheeledRobin Class Reference

List of all members.

Public Member Functions
def	__init__
def	control
def	direct_drive
def	drive
def	drive_straight
def	passive
def	set_digital_outputs
def	slow_stop
def	start
def	stop
def	turn_in_place
Public Attributes
	safe
	sci
	tty

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Detailed Description

Represents a wheeled_robin robot.

Definition at line 100 of file wheeled_robin_driver.py.

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Constructor & Destructor Documentation

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.__init__

(

self

)

Definition at line 104 of file wheeled_robin_driver.py.

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Member Function Documentation

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.control

(

self

)

Start the robot's SCI interface and place it in safe mode.

Definition at line 119 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.direct_drive	(		self,
			velocity_left,
			velocity_right
	)

Definition at line 129 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.drive	(		self,
			velocity_x,
			velocity_g
	)

controls wheeled_robins's drive wheels.

NOTE(Johannes Mayr): This commands differs slightly from the SCI and the OI
as the second argument is not the radius. Instead the angular velocity around 
z is used as second argument.

The wheeled_robin takes four data bytes, interpreted as two 16-bit signed values
using two's complement. The first two bytes specify the average linear velocity
of the drive wheels in millimeters per second (mm/s), with the high byte
being sent first. The next two bytes specify the average angular velocity  in millirad per second (mrad/s) at
which wheeled_robin will turn. 

Also see drive_straight and turn_in_place convenience methods.

Definition at line 135 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.drive_straight	(		self,
			velocity
	)

drive in a straight line.

Definition at line 174 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.passive

(

self

)

Put the robot in passive mode.

Definition at line 114 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.set_digital_outputs	(		self,
			value
	)

Enable or disable digital outputs.

Definition at line 182 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.slow_stop	(		self,
			velocity
	)

Slowly reduce the velocities to 0 to stop movement.

Definition at line 164 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.start	(		self,
			tty = '/dev/ttyUSB0'
	)

Definition at line 109 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.stop

(

self

)

Set velocities to 0 to stop movement.

Definition at line 160 of file wheeled_robin_driver.py.

def wheeled_robin_driver.wheeled_robin_driver.WheeledRobin.turn_in_place	(		self,
			velocity
	)

Turn in place either clockwise or counter-clockwise.

Definition at line 178 of file wheeled_robin_driver.py.

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Member Data Documentation

wheeled_robin_driver::wheeled_robin_driver.WheeledRobin::safe

Definition at line 104 of file wheeled_robin_driver.py.

wheeled_robin_driver::wheeled_robin_driver.WheeledRobin::sci

Definition at line 104 of file wheeled_robin_driver.py.

wheeled_robin_driver::wheeled_robin_driver.WheeledRobin::tty

Definition at line 104 of file wheeled_robin_driver.py.

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

• wheeled_robin_driver.py