dynamixel_driver.dynamixel_serial_proxy.SerialProxy Class Reference

Public Member Functions
def	__init__ (self, port_name='/dev/ttyUSB0', port_namespace='ttyUSB0', baud_rate='1000000', min_motor_id=1, max_motor_id=25, update_rate=5, diagnostics_rate=1, error_level_temp=75, warn_level_temp=70, readback_echo=False)
def	connect (self)
def	disconnect (self)

Public Attributes
	actual_rate
	baud_rate
	current_state
	diagnostics_pub
	diagnostics_rate
	dxl_io
	error_counts
	error_level_temp
	max_motor_id
	min_motor_id
	motor_states_pub
	motor_static_info
	motors
	num_ping_retries
	port_name
	port_namespace
	readback_echo
	running
	update_rate
	warn_level_temp

Private Member Functions
def	__fill_motor_parameters (self, motor_id, model_number)
def	__find_motors (self)
def	__publish_diagnostic_information (self)
def	__update_motor_states (self)

Detailed Description

Definition at line 66 of file dynamixel_serial_proxy.py.

Constructor & Destructor Documentation

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.__init__	(		self,
			port_name = '/dev/ttyUSB0',
			port_namespace = 'ttyUSB0',
			baud_rate = '1000000',
			min_motor_id = 1,
			max_motor_id = 25,
			update_rate = 5,
			diagnostics_rate = 1,
			error_level_temp = 75,
			warn_level_temp = 70,
			readback_echo = False
	)

Definition at line 77 of file dynamixel_serial_proxy.py.

Member Function Documentation

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.__fill_motor_parameters (   self,   motor_id,   model_number  )

private

Stores some extra information about each motor on the parameter server.
Some of these paramters are used in joint controller implementation.

Definition at line 112 of file dynamixel_serial_proxy.py.

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.__find_motors (   self )

private

Definition at line 157 of file dynamixel_serial_proxy.py.

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.__publish_diagnostic_information (   self )

private

Definition at line 259 of file dynamixel_serial_proxy.py.

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.__update_motor_states (   self )

private

Definition at line 213 of file dynamixel_serial_proxy.py.

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.connect

(

self

)

Definition at line 97 of file dynamixel_serial_proxy.py.

def dynamixel_driver.dynamixel_serial_proxy.SerialProxy.disconnect

(

self

)

Definition at line 109 of file dynamixel_serial_proxy.py.

Member Data Documentation

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.actual_rate

Definition at line 89 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.baud_rate

Definition at line 80 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.current_state

Definition at line 91 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.diagnostics_pub

Definition at line 95 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.diagnostics_rate

Definition at line 84 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.dxl_io

Definition at line 99 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.error_counts

Definition at line 90 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.error_level_temp

Definition at line 85 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.max_motor_id

Definition at line 82 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.min_motor_id

Definition at line 81 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.motor_states_pub

Definition at line 94 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.motor_static_info

Definition at line 160 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.motors

Definition at line 159 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.num_ping_retries

Definition at line 92 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.port_name

Definition at line 78 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.port_namespace

Definition at line 79 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.readback_echo

Definition at line 87 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.running

Definition at line 105 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.update_rate

Definition at line 83 of file dynamixel_serial_proxy.py.

dynamixel_driver.dynamixel_serial_proxy.SerialProxy.warn_level_temp

Definition at line 86 of file dynamixel_serial_proxy.py.

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

• dynamixel_serial_proxy.py