Public Member Functions | |
def | __init__ (self, dxl_io, controller_namespace, port_namespace) |
def | initialize (self) |
def | process_command (self, msg) |
def | process_motor_states (self, state_list) |
def | set_compliance_margin (self, margin) |
def | set_compliance_punch (self, punch) |
def | set_compliance_slope (self, slope) |
def | set_speed (self, speed) |
def | set_torque_enable (self, torque_enable) |
def | set_torque_limit (self, max_torque) |
def | spd_rad_to_raw (self, spd_rad) |
Public Member Functions inherited from dynamixel_controllers.joint_controller.JointController | |
def | __init__ (self, dxl_io, controller_namespace, port_namespace) |
def | initialize (self) |
def | process_command (self, msg) |
def | process_motor_states (self, state_list) |
def | process_set_compliance_margin (self, req) |
def | process_set_compliance_punch (self, req) |
def | process_set_compliance_slope (self, req) |
def | process_set_speed (self, req) |
def | process_set_torque_limit (self, req) |
def | process_torque_enable (self, req) |
def | rad_to_raw (self, angle, initial_position_raw, flipped, encoder_ticks_per_radian) |
def | raw_to_rad (self, raw, initial_position_raw, flipped, radians_per_encoder_tick) |
def | set_compliance_margin (self, margin) |
def | set_compliance_punch (self, punch) |
def | set_compliance_slope (self, slope) |
def | set_speed (self, speed) |
def | set_torque_enable (self, torque_enable) |
def | set_torque_limit (self, max_torque) |
def | start (self) |
def | stop (self) |
Definition at line 54 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.__init__ | ( | self, | |
dxl_io, | |||
controller_namespace, | |||
port_namespace | |||
) |
Definition at line 55 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.initialize | ( | self | ) |
Definition at line 68 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.process_command | ( | self, | |
msg | |||
) |
Definition at line 168 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.process_motor_states | ( | self, | |
state_list | |||
) |
Definition at line 152 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_margin | ( | self, | |
margin | |||
) |
Definition at line 131 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_punch | ( | self, | |
punch | |||
) |
Definition at line 138 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_slope | ( | self, | |
slope | |||
) |
Definition at line 125 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_speed | ( | self, | |
speed | |||
) |
Definition at line 121 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_torque_enable | ( | self, | |
torque_enable | |||
) |
Definition at line 117 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_torque_limit | ( | self, | |
max_torque | |||
) |
Definition at line 145 of file joint_torque_controller.py.
def dynamixel_controllers.joint_torque_controller.JointTorqueController.spd_rad_to_raw | ( | self, | |
spd_rad | |||
) |
Definition at line 111 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.ENCODER_RESOLUTION |
Definition at line 88 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.ENCODER_TICKS_PER_RADIAN |
Definition at line 79 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.flipped |
Definition at line 63 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.initial_position_raw |
Definition at line 59 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_max_speed |
Definition at line 99 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_speed |
Definition at line 104 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_state |
Definition at line 66 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.last_commanded_torque |
Definition at line 64 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.max_angle |
Definition at line 83 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.max_angle_raw |
Definition at line 61 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.MAX_POSITION |
Definition at line 89 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.MAX_VELOCITY |
Definition at line 91 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.min_angle |
Definition at line 82 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.min_angle_raw |
Definition at line 60 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.MIN_VELOCITY |
Definition at line 92 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.motor_id |
Definition at line 58 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.RADIANS_PER_ENCODER_TICK |
Definition at line 78 of file joint_torque_controller.py.
dynamixel_controllers.joint_torque_controller.JointTorqueController.VELOCITY_PER_TICK |
Definition at line 90 of file joint_torque_controller.py.