sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib Class Reference

Inheritance diagram for sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib:

Public Member Functions
def	__init__ (self)
def	activate (self)
def	activate_joint_states (self)
def	debug_callback (self, msg)
def	get_average_raw_value (self, sensor_name, number_of_samples=10, accept_zeros=True)
def	get_effort (self, joint_name)
def	get_position (self, joint_name)
def	get_raw_value (self, sensor_name)
def	get_velocity (self, joint_name)
def	joint_state_callback (self, msg)
def	on_close (self)
def	sendupdate (self, joint_name, target, controller_type="effort")
def	set_pid (self, joint_name, pid_parameters)
def	start_record (self, joint_name, callback)
def	stop_record (self, joint_name)

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 31 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 46 of file etherCAT_hand_lib.py.

Member Function Documentation

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate

(

self

)

Definition at line 223 of file etherCAT_hand_lib.py.

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate_joint_states

(

self

)

Definition at line 241 of file etherCAT_hand_lib.py.

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

Definition at line 175 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,
			accept_zeros = True
	)

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 134 of file etherCAT_hand_lib.py.

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

Definition at line 103 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 119 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 254 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 94 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 156 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 150 of file etherCAT_hand_lib.py.

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

Definition at line 153 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 69 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.debug_subscriber

Definition at line 55 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.efforts

Definition at line 63 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_finder

Definition at line 50 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_id

Definition at line 52 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_params

Definition at line 51 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.joint_state_subscriber

Definition at line 56 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.msg_to_send

Definition at line 65 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.pid_services

Definition at line 59 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.positions

Definition at line 61 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.publishers

Definition at line 60 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.raw_values

Definition at line 58 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.record_js_callback

Definition at line 57 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 36 of file etherCAT_hand_lib.py.

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.velocities

Definition at line 62 of file etherCAT_hand_lib.py.

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

• etherCAT_hand_lib.py