svenzva_drivers.svenzva_driver.SvenzvaDriver Class Reference

Public Member Functions
def	__init__ (self, port_name='/dev/ttyUSB0', port_namespace='revel', baud_rate='115200', min_motor_id=1, max_motor_id=7, update_rate=10, diagnostics_rate=0, readback_echo=False)
def	connect (self, port_name, baud_rate, readback_echo)
def	disconnect (self)
def	fkine_action (self, data)
def	initialze_motor_states (self)
def	set_user_defined_mode (self)
def	start_modules (self)
def	teaching_mode (self)
def	velocity_mode (self)

Static Public Member Functions
def	rad_to_raw (angle)
def	raw_to_rad (raw)
def	spd_rad_to_raw (vel)
def	spd_raw_to_rad (vel)

Public Attributes
	actual_rate
	baud_rate
	compliance_controller
	current_state
	diagnostics_rate
	dxl_io
	dynamic_reconfigure_srv
	error_counts
	fkine_action
	max_motor_id
	min_motor_id
	motor_states_pub
	motor_static_info
	motors
	num_ping_retries
	port_name
	port_namespace
	readback_echo
	traj_client
	update_rate

Private Member Functions
def	__find_motors (self)
def	__update_motor_states (self)

Detailed Description

Definition at line 61 of file svenzva_driver.py.

Constructor & Destructor Documentation

def svenzva_drivers.svenzva_driver.SvenzvaDriver.__init__	(		self,
			port_name = '/dev/ttyUSB0',
			port_namespace = 'revel',
			baud_rate = '115200',
			min_motor_id = 1,
			max_motor_id = 7,
			update_rate = 10,
			diagnostics_rate = 0,
			readback_echo = False
	)

Definition at line 72 of file svenzva_driver.py.

Member Function Documentation

def svenzva_drivers.svenzva_driver.SvenzvaDriver.__find_motors (   self )

private

Definition at line 117 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.__update_motor_states (   self )

private

Definition at line 144 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.connect	(		self,
			port_name,
			baud_rate,
			readback_echo
	)

Definition at line 101 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.disconnect

(

self

)

Definition at line 110 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.fkine_action	(		self,
			data
	)

Definition at line 352 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.initialze_motor_states

(

self

)

Definition at line 315 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.rad_to_raw (   angle )

static

Definition at line 366 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.raw_to_rad (   raw )

static

Definition at line 371 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.set_user_defined_mode

(

self

)

Definition at line 253 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.spd_rad_to_raw (   vel )

static

Definition at line 376 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.spd_raw_to_rad (   vel )

static

Definition at line 380 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.start_modules

(

self

)

Definition at line 265 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.teaching_mode

(

self

)

Definition at line 234 of file svenzva_driver.py.

def svenzva_drivers.svenzva_driver.SvenzvaDriver.velocity_mode

(

self

)

Definition at line 216 of file svenzva_driver.py.

Member Data Documentation

svenzva_drivers.svenzva_driver.SvenzvaDriver.actual_rate

Definition at line 85 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.baud_rate

Definition at line 78 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.compliance_controller

Definition at line 246 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.current_state

Definition at line 87 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.diagnostics_rate

Definition at line 82 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.dxl_io

Definition at line 103 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.dynamic_reconfigure_srv

Definition at line 293 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.error_counts

Definition at line 86 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.fkine_action

Definition at line 279 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.max_motor_id

Definition at line 80 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.min_motor_id

Definition at line 79 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.motor_states_pub

Definition at line 91 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.motor_static_info

Definition at line 120 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.motors

Definition at line 119 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.num_ping_retries

Definition at line 88 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.port_name

Definition at line 76 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.port_namespace

Definition at line 77 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.readback_echo

Definition at line 83 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.traj_client

Definition at line 90 of file svenzva_driver.py.

svenzva_drivers.svenzva_driver.SvenzvaDriver.update_rate

Definition at line 81 of file svenzva_driver.py.

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

• svenzva_driver.py