arbotix_python.joints.Joint Class Reference

Joints hold current values. More...

Inheritance diagram for arbotix_python.joints.Joint:

List of all members.

Public Member Functions
def	__init__
	Constructs a Joint instance.
def	getDiagnostics
	Get a diagnostics message for this joint.
def	interpolate
	Get new output, in raw data format.
def	setControlOutput
	Set the goal position.
def	setCurrentFeedback
	Set the current position from feedback data.
Public Attributes
	controller
	device
	last
	name
	position
	velocity

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Detailed Description

Joints hold current values.

Definition at line 32 of file joints.py.

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Constructor & Destructor Documentation

def arbotix_python.joints.Joint.__init__	(		self,
			device,
			name
	)

Constructs a Joint instance.

Parameters:

device	The arbotix instance.
name	The joint name.

Reimplemented in arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.

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Member Function Documentation

def arbotix_python.joints.Joint.getDiagnostics

(

self

)

Get a diagnostics message for this joint.

Returns:

Diagnostics message.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 75 of file joints.py.

def arbotix_python.joints.Joint.interpolate	(		self,
			frame
	)

Get new output, in raw data format.

Parameters:

frame

The frame length in seconds to interpolate forward.

Returns:

The new output, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 53 of file joints.py.

def arbotix_python.joints.Joint.setControlOutput	(		self,
			position
	)

Set the goal position.

Parameters:

position

The goal position, in radians/meters.

Returns:

The output position, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 69 of file joints.py.

def arbotix_python.joints.Joint.setCurrentFeedback	(		self,
			raw_data
	)

Set the current position from feedback data.

Parameters:

raw_data

The current feedback.

Returns:

The current position, in radians/meters.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 61 of file joints.py.

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Member Data Documentation

arbotix_python::joints.Joint::controller

Definition at line 39 of file joints.py.

arbotix_python::joints.Joint::device

Definition at line 39 of file joints.py.

arbotix_python::joints.Joint::last

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.

arbotix_python::joints.Joint::name

Definition at line 39 of file joints.py.

arbotix_python::joints.Joint::position

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.

arbotix_python::joints.Joint::velocity

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.

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

• joints.py