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
	hand_finder
	hand_id
	hand_params
	joint_state_subscriber
	msg_to_send
	pid_services
	positions
	publishers
	raw_values
	record_js_callback
	velocities
Static Public Attributes
list	sensors

Detailed Description

Useful python library to communicate with the etherCAT hand.

Definition at line 32 of file etherCAT_hand_lib.py.

Constructor & Destructor Documentation

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.__init__ ( self )

Useful python library to communicate with the etherCAT hand.

Definition at line 47 of file etherCAT_hand_lib.py.

Member Function Documentation

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate ( self )

Definition at line 222 of file etherCAT_hand_lib.py.

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate_joint_states ( self )

Definition at line 240 of file etherCAT_hand_lib.py.

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

Definition at line 176 of file etherCAT_hand_lib.py.

def sr_robot_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 209 of file etherCAT_hand_lib.py.

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

Definition at line 135 of file etherCAT_hand_lib.py.

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

Definition at line 104 of file etherCAT_hand_lib.py.

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

Definition at line 189 of file etherCAT_hand_lib.py.

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

Definition at line 120 of file etherCAT_hand_lib.py.

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

Definition at line 179 of file etherCAT_hand_lib.py.

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.on_close ( self )

Definition at line 253 of file etherCAT_hand_lib.py.

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

Definition at line 95 of file etherCAT_hand_lib.py.

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

Definition at line 157 of file etherCAT_hand_lib.py.

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

Definition at line 151 of file etherCAT_hand_lib.py.

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

Definition at line 154 of file etherCAT_hand_lib.py.

Member Data Documentation

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::callback

Definition at line 154 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::compounds

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::debug_subscriber

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::efforts

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::hand_finder

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::hand_id

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::hand_params

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::joint_state_subscriber

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::msg_to_send

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::pid_services

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::positions

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::publishers

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::raw_values

Definition at line 49 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::record_js_callback

Definition at line 49 of file etherCAT_hand_lib.py.

list sr_robot_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 37 of file etherCAT_hand_lib.py.

sr_robot_lib::etherCAT_hand_lib.EtherCAT_Hand_Lib::velocities

Definition at line 49 of file etherCAT_hand_lib.py.

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

etherCAT_hand_lib.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation