arbotix_python.controllers.Controller Class Reference

Controllers interact with ArbotiX hardware. More...

Inheritance diagram for arbotix_python.controllers.Controller:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Controller instance. More...
def	active (self)
	Is the controller actively sending commands to joints? More...
def	getDiagnostics (self)
	Get a diagnostics message for this joint. More...
def	shutdown (self)
	Stop the controller, do any hardware shutdown needed. More...
def	startup (self)
	Start the controller, do any hardware setup needed. More...
def	update (self)
	Do any read/writes to device. More...

Public Attributes
	device
	fake
	joint_names
	joint_positions
	joint_velocities
	name
	pause

Detailed Description

Controllers interact with ArbotiX hardware.

Definition at line 32 of file controllers.py.

Constructor & Destructor Documentation

__init__()

def arbotix_python.controllers.Controller.__init__	(		self,
			device,
			name
	)

Constructs a Controller instance.

Parameters

device	The arbotix instance.
name	The controller name.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.linear_controller.LinearControllerAbsolute, arbotix_python.diff_controller.DiffController, and arbotix_python.follow_controller.FollowController.

Definition at line 39 of file controllers.py.

Member Function Documentation

active()

def arbotix_python.controllers.Controller.active

(

self

)

Is the controller actively sending commands to joints?

Reimplemented in arbotix_python.follow_controller.FollowController.

Definition at line 63 of file controllers.py.

getDiagnostics()

def arbotix_python.controllers.Controller.getDiagnostics

(

self

)

Get a diagnostics message for this joint.

Returns

Diagnostics message.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.diff_controller.DiffController, arbotix_python.linear_controller.LinearControllerAbsolute, and arbotix_python.follow_controller.FollowController.

Definition at line 69 of file controllers.py.

shutdown()

def arbotix_python.controllers.Controller.shutdown

(

self

)

Stop the controller, do any hardware shutdown needed.

Reimplemented in arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.diff_controller.DiffController, and arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 59 of file controllers.py.

startup()

def arbotix_python.controllers.Controller.startup

(

self

)

Start the controller, do any hardware setup needed.

Reimplemented in arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.linear_controller.LinearControllerAbsolute, arbotix_python.diff_controller.DiffController, and arbotix_python.follow_controller.FollowController.

Definition at line 51 of file controllers.py.

update()

def arbotix_python.controllers.Controller.update

(

self

)

Do any read/writes to device.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.linear_controller.LinearControllerAbsolute, and arbotix_python.diff_controller.DiffController.

Definition at line 55 of file controllers.py.

Member Data Documentation

device

arbotix_python.controllers.Controller.device

Definition at line 41 of file controllers.py.

fake

arbotix_python.controllers.Controller.fake

Definition at line 42 of file controllers.py.

joint_names

arbotix_python.controllers.Controller.joint_names

Definition at line 46 of file controllers.py.

joint_positions

arbotix_python.controllers.Controller.joint_positions

Definition at line 47 of file controllers.py.

joint_velocities

arbotix_python.controllers.Controller.joint_velocities

Definition at line 48 of file controllers.py.

name

arbotix_python.controllers.Controller.name

Definition at line 40 of file controllers.py.

pause

arbotix_python.controllers.Controller.pause

Definition at line 43 of file controllers.py.

---

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

• controllers.py