Functions | Variables
rmp_config_limits Namespace Reference

Functions

def is_not_param
def is_quad
def is_range
def is_range_no_set
def is_range_set
def is_true

Variables

tuple config_params_function
tuple config_params_max
tuple config_params_min
tuple config_params_names

Detailed Description

File used to determine the commands sent to the robot are valid commands. The file organizes the parameters defined in
python_ethernet_rmp.system_defines.py into dictionaries.

Author:  Chris Dunkers, Worcester Polytechnic Institute
Author:  Russell Toris, Worcester Polytechnic Institute
Version: June 12, 2014

Function Documentation

def rmp_config_limits.is_not_param (   arg1,
  arg2 
)
Prints a rospy warning that the command does not exist.
:param arg1: The name of the parameter.
:param arg2: The parameter value.
:return The parameter value and a flag indicating false.

Definition at line 89 of file rmp_config_limits.py.

def rmp_config_limits.is_quad (   arg1,
  arg2 
)
Checks to make sure the IP info is properly configured.
:param arg1: The name of the parameter.
:param arg2: The parameter value.
:return The parameter value and a flag indicating if the value is within the ranges.

Definition at line 65 of file rmp_config_limits.py.

def rmp_config_limits.is_range (   arg1,
  arg2 
)
Function to check the range of the parameter value. If out of range the parameter is not sent to the robot
:param arg1: The name of the parameter.
:param arg2: The parameter value.
:return The parameter value cast to an int and a flag indicating if the value is within the ranges.

Definition at line 48 of file rmp_config_limits.py.

def rmp_config_limits.is_range_no_set (   arg1,
  arg2 
)
Function to check the range of the parameter value. If out of range the parameter is not sent to the robot.
:param arg1: The name of the parameter.
:param arg2: The parameter value.
:return The parameter value and a flag indicating if the value is within the ranges.

Definition at line 32 of file rmp_config_limits.py.

def rmp_config_limits.is_range_set (   arg1,
  arg2 
)
Function to check the range of the parameter value. If out of range the parameter is set as the boundary.
:param arg1: The name of the parameter.
:param arg2: The parameter value.
:return The bounded parameter value converted to a uint32 and a true flag.

Definition at line 15 of file rmp_config_limits.py.

def rmp_config_limits.is_true (   arg1,
  arg2 
)
Returns True as the command is always valid.
:param arg1: The name of the parameter (unused).
:param arg2: The parameter value.
:return The parameter value and a flag indicating true.

Definition at line 79 of file rmp_config_limits.py.


Variable Documentation

Initial value:
00001 dict({ 
00002                                         RMP_CMD_NONE: is_true,
00003                                         RMP_CMD_SET_MAXIMUM_VELOCITY: is_range_set,
00004                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: is_range_set,
00005                                         RMP_CMD_SET_MAXIMUM_DECELERATION: is_range_set,
00006                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: is_range_set,
00007                                         RMP_CMD_SET_COASTDOWN_ACCEL: is_range_set,
00008                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: is_range_set,
00009                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: is_range_set,
00010                                         RMP_CMD_SET_TIRE_DIAMETER: is_range_set,
00011                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: is_range_set,
00012                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: is_range_set,
00013                                         RMP_CMD_SET_TRANSMISSION_RATIO: is_range_set,
00014                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: is_range,
00015                                         RMP_CMD_SET_ETH_IP_ADDRESS: is_quad,
00016                                         RMP_CMD_SET_ETH_PORT_NUMBER: is_range,
00017                                         RMP_CMD_SET_ETH_SUBNET_MASK: is_quad,
00018                                         RMP_CMD_SET_ETH_GATEWAY: is_quad,
00019                                         RMP_CMD_SET_USER_FB_1_BITMAP: is_range,
00020                                         RMP_CMD_SET_USER_FB_2_BITMAP: is_range,
00021                                         RMP_CMD_SET_USER_FB_3_BITMAP: is_range,
00022                                         RMP_CMD_SET_USER_FB_4_BITMAP: is_range,
00023                                         RMP_CMD_SET_AUDIO_COMMAND: is_range_no_set,
00024                                         RMP_CMD_SET_OPERATIONAL_MODE: is_range_no_set,
00025                                         RMP_CMD_SEND_SP_FAULTLOG: is_range_no_set,
00026                                         RMP_CMD_RESET_INTEGRATORS: is_range_no_set,
00027                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: is_true,
00028                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: is_range_no_set})

Definition at line 198 of file rmp_config_limits.py.

Initial value:
00001 dict({
00002                                         RMP_CMD_NONE: 0,
00003                                         RMP_CMD_SET_MAXIMUM_VELOCITY: MAX_VELOCITY_MPS,
00004                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: MAX_ACCELERATION_MPS2,
00005                                         RMP_CMD_SET_MAXIMUM_DECELERATION: MAX_DECELERATION_MPS2,
00006                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: MAX_DTZ_DECEL_RATE_MPS2,
00007                                         RMP_CMD_SET_COASTDOWN_ACCEL: MAX_COASTDOWN_ACCEL_MPS2,
00008                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: MAX_YAW_RATE_RPS,
00009                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: MAX_YAW_ACCEL_RPS2,
00010                                         RMP_CMD_SET_TIRE_DIAMETER: MAX_TIRE_DIAMETER_M,
00011                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: MAX_WHEEL_BASE_LENGTH_M,
00012                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: MAX_WHEEL_TRACK_WIDTH_M,
00013                                         RMP_CMD_SET_TRANSMISSION_RATIO: MAX_TRANSMISSION_RATIO,
00014                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: 4294967295,
00015                                         RMP_CMD_SET_ETH_IP_ADDRESS: None,
00016                                         RMP_CMD_SET_ETH_PORT_NUMBER: 65535,
00017                                         RMP_CMD_SET_ETH_SUBNET_MASK: None,
00018                                         RMP_CMD_SET_ETH_GATEWAY: None,
00019                                         RMP_CMD_SET_USER_FB_1_BITMAP: 4294967295,
00020                                         RMP_CMD_SET_USER_FB_2_BITMAP: 4294967295,
00021                                         RMP_CMD_SET_USER_FB_3_BITMAP: 4294967295,
00022                                         RMP_CMD_SET_USER_FB_4_BITMAP: 0,
00023                                         RMP_CMD_SET_AUDIO_COMMAND: 16,
00024                                         RMP_CMD_SET_OPERATIONAL_MODE: 6,
00025                                         RMP_CMD_SEND_SP_FAULTLOG: 1,
00026                                         RMP_CMD_RESET_INTEGRATORS: 31,
00027                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: 0,
00028                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: 1})

Definition at line 102 of file rmp_config_limits.py.

Initial value:
00001 dict({ 
00002                                         RMP_CMD_NONE: 0,
00003                                         RMP_CMD_SET_MAXIMUM_VELOCITY: MIN_VELOCITY_MPS,
00004                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: MIN_ACCELERATION_MPS2,
00005                                         RMP_CMD_SET_MAXIMUM_DECELERATION: MIN_DECELERATION_MPS2,
00006                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: MIN_DTZ_DECEL_RATE_MPS2,
00007                                         RMP_CMD_SET_COASTDOWN_ACCEL: MIN_COASTDOWN_ACCEL_MPS2,
00008                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: MIN_YAW_RATE_RPS,
00009                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: MIN_YAW_ACCEL_RPS2,
00010                                         RMP_CMD_SET_TIRE_DIAMETER: MIN_TIRE_DIAMETER_M,
00011                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: MIN_WHEEL_BASE_LENGTH_M,
00012                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: MIN_WHEEL_TRACK_WIDTH_M,
00013                                         RMP_CMD_SET_TRANSMISSION_RATIO: MIN_TRANSMISSION_RATIO,
00014                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: 0,
00015                                         RMP_CMD_SET_ETH_IP_ADDRESS: None,
00016                                         RMP_CMD_SET_ETH_PORT_NUMBER: 0,
00017                                         RMP_CMD_SET_ETH_SUBNET_MASK: None,
00018                                         RMP_CMD_SET_ETH_GATEWAY: None,
00019                                         RMP_CMD_SET_USER_FB_1_BITMAP: 0,
00020                                         RMP_CMD_SET_USER_FB_2_BITMAP: 0,
00021                                         RMP_CMD_SET_USER_FB_3_BITMAP: 0,
00022                                         RMP_CMD_SET_USER_FB_4_BITMAP: 0,
00023                                         RMP_CMD_SET_AUDIO_COMMAND: 0,
00024                                         RMP_CMD_SET_OPERATIONAL_MODE: 1,
00025                                         RMP_CMD_SEND_SP_FAULTLOG: 0,
00026                                         RMP_CMD_RESET_INTEGRATORS: 0,
00027                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: 0,
00028                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: 0})

Definition at line 134 of file rmp_config_limits.py.

Initial value:
00001 dict({ 
00002                                         RMP_CMD_NONE: "RMP_CMD_NONE",
00003                                         RMP_CMD_SET_MAXIMUM_VELOCITY: "RMP_CMD_SET_MAXIMUM_VELOCITY",
00004                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: "RMP_CMD_SET_MAXIMUM_ACCELERATION",
00005                                         RMP_CMD_SET_MAXIMUM_DECELERATION: "RMP_CMD_SET_MAXIMUM_DECELERATION",
00006                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: "RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE",
00007                                         RMP_CMD_SET_COASTDOWN_ACCEL: "RMP_CMD_SET_COASTDOWN_ACCEL",
00008                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: "RMP_CMD_SET_MAXIMUM_TURN_RATE",
00009                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: "RMP_CMD_SET_MAXIMUM_TURN_ACCEL",
00010                                         RMP_CMD_SET_TIRE_DIAMETER: "RMP_CMD_SET_TIRE_DIAMETER",
00011                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: "RMP_CMD_SET_WHEEL_BASE_LENGTH",
00012                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: "RMP_CMD_SET_WHEEL_TRACK_WIDTH",
00013                                         RMP_CMD_SET_TRANSMISSION_RATIO: "RMP_CMD_SET_TRANSMISSION_RATIO",
00014                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: "RMP_CMD_SET_INPUT_CONFIG_BITMAP",
00015                                         RMP_CMD_SET_ETH_IP_ADDRESS: "RMP_CMD_SET_ETH_IP_ADDRESS",
00016                                         RMP_CMD_SET_ETH_PORT_NUMBER: "RMP_CMD_SET_ETH_PORT_NUMBER",
00017                                         RMP_CMD_SET_ETH_SUBNET_MASK: "RMP_CMD_SET_ETH_SUBNET_MASK",
00018                                         RMP_CMD_SET_ETH_GATEWAY: "RMP_CMD_SET_ETH_GATEWAY",
00019                                         RMP_CMD_SET_USER_FB_1_BITMAP: "RMP_CMD_SET_USER_FB_1_BITMAP",
00020                                         RMP_CMD_SET_USER_FB_2_BITMAP: "RMP_CMD_SET_USER_FB_2_BITMAP",
00021                                         RMP_CMD_SET_USER_FB_3_BITMAP: "RMP_CMD_SET_USER_FB_3_BITMAP",
00022                                         RMP_CMD_SET_USER_FB_4_BITMAP: "RMP_CMD_SET_USER_FB_4_BITMAP",
00023                                         RMP_CMD_SET_AUDIO_COMMAND: "RMP_CMD_SET_AUDIO_COMMAND",
00024                                         RMP_CMD_SET_OPERATIONAL_MODE: "RMP_CMD_SET_OPERATIONAL_MODE",
00025                                         RMP_CMD_SEND_SP_FAULTLOG: "RMP_CMD_SEND_SP_FAULTLOG",
00026                                         RMP_CMD_RESET_INTEGRATORS: "RMP_CMD_RESET_INTEGRATORS",
00027                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: "RMP_CMD_RESET_PARAMS_TO_DEFAULT",
00028                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: "RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS"})

Definition at line 166 of file rmp_config_limits.py.



ros_ethernet_rmp
Author(s): SEGWAY Inc., Chris Dunkers , David Kent
autogenerated on Tue Mar 8 2016 01:14:58