arbotix_python.diff_controller.DiffController Class Reference

Inheritance diagram for arbotix_python.diff_controller.DiffController:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Controller instance. More...
def	cmdVelCb (self, req)
def	getDiagnostics (self)
def	setup (self, kp, kd, ki, ko)
	Controller Specification: 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	status (self)
def	update (self)
	Do any read/writes to device. More...
def	write (self, left, right)
Public Member Functions inherited from arbotix_python.controllers.Controller
def	active (self)
	Is the controller actively sending commands to joints? More...

Public Attributes
	accel_limit
	base_frame_id
	base_width
	dr
	dx
	enc_left
	enc_right
	joint_names
	joint_positions
	joint_velocities
	Kd
	Ki
	Ko
	Kp
	last_cmd
	max_accel
	odom_frame_id
	odomBroadcaster
	odomPub
	pause
	rate
	t_delta
	t_next
	th
	then
	ticks_meter
	timeout
	v_des_left
	v_des_right
	v_left
	v_right
	x
	y
Public Attributes inherited from arbotix_python.controllers.Controller
	device
	fake
	joint_names
	joint_positions
	joint_velocities
	name
	pause

Detailed Description

Controller to handle movement & odometry feedback for a differential 
        drive mobile base. 

Definition at line 44 of file diff_controller.py.

Constructor & Destructor Documentation

__init__()

def arbotix_python.diff_controller.DiffController.__init__	(		self,
			device,
			name
	)

Constructs a Controller instance.

Parameters

device	The arbotix instance.
name	The controller name.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Member Function Documentation

cmdVelCb()

def arbotix_python.diff_controller.DiffController.cmdVelCb	(		self,
			req
	)

Handle movement requests. 

Definition at line 206 of file diff_controller.py.

getDiagnostics()

def arbotix_python.diff_controller.DiffController.getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 217 of file diff_controller.py.

setup()

def arbotix_python.diff_controller.DiffController.setup	(		self,
			kp,
			kd,
			ki,
			ko
	)

Controller Specification:

setup: Kp, Kd, Ki, Ko (all unsigned char)

write: left_speed, right_speed (2-byte signed, ticks per frame)

status: left_enc, right_enc (4-byte signed)

Definition at line 240 of file diff_controller.py.

shutdown()

def arbotix_python.diff_controller.DiffController.shutdown

(

self

)

Stop the controller, do any hardware shutdown needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 202 of file diff_controller.py.

startup()

def arbotix_python.diff_controller.DiffController.startup

(

self

)

Start the controller, do any hardware setup needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 99 of file diff_controller.py.

status()

def arbotix_python.diff_controller.DiffController.status

(

self

)

read 32-bit (signed) encoder values. 

Definition at line 250 of file diff_controller.py.

update()

def arbotix_python.diff_controller.DiffController.update

(

self

)

Do any read/writes to device.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 103 of file diff_controller.py.

write()

def arbotix_python.diff_controller.DiffController.write	(		self,
			left,
			right
	)

Send a closed-loop speed. Base PID loop runs at 30Hz, these values
are therefore in ticks per 1/30 second. 

Definition at line 243 of file diff_controller.py.

Member Data Documentation

accel_limit

arbotix_python.diff_controller.DiffController.accel_limit

Definition at line 70 of file diff_controller.py.

base_frame_id

arbotix_python.diff_controller.DiffController.base_frame_id

Definition at line 60 of file diff_controller.py.

base_width

arbotix_python.diff_controller.DiffController.base_width

Definition at line 58 of file diff_controller.py.

dr

arbotix_python.diff_controller.DiffController.dr

Definition at line 89 of file diff_controller.py.

dx

arbotix_python.diff_controller.DiffController.dx

Definition at line 88 of file diff_controller.py.

enc_left

arbotix_python.diff_controller.DiffController.enc_left

Definition at line 83 of file diff_controller.py.

enc_right

arbotix_python.diff_controller.DiffController.enc_right

Definition at line 84 of file diff_controller.py.

joint_names

arbotix_python.diff_controller.DiffController.joint_names

Definition at line 74 of file diff_controller.py.

joint_positions

arbotix_python.diff_controller.DiffController.joint_positions

Definition at line 75 of file diff_controller.py.

joint_velocities

arbotix_python.diff_controller.DiffController.joint_velocities

Definition at line 76 of file diff_controller.py.

Kd

arbotix_python.diff_controller.DiffController.Kd

Definition at line 65 of file diff_controller.py.

Ki

arbotix_python.diff_controller.DiffController.Ki

Definition at line 66 of file diff_controller.py.

Ko

arbotix_python.diff_controller.DiffController.Ko

Definition at line 67 of file diff_controller.py.

Kp

arbotix_python.diff_controller.DiffController.Kp

Definition at line 64 of file diff_controller.py.

last_cmd

arbotix_python.diff_controller.DiffController.last_cmd

Definition at line 50 of file diff_controller.py.

max_accel

arbotix_python.diff_controller.DiffController.max_accel

Definition at line 71 of file diff_controller.py.

odom_frame_id

arbotix_python.diff_controller.DiffController.odom_frame_id

Definition at line 61 of file diff_controller.py.

odomBroadcaster

arbotix_python.diff_controller.DiffController.odomBroadcaster

Definition at line 95 of file diff_controller.py.

odomPub

arbotix_python.diff_controller.DiffController.odomPub

Definition at line 94 of file diff_controller.py.

pause

arbotix_python.diff_controller.DiffController.pause

Definition at line 49 of file diff_controller.py.

rate

arbotix_python.diff_controller.DiffController.rate

Definition at line 53 of file diff_controller.py.

t_delta

arbotix_python.diff_controller.DiffController.t_delta

Definition at line 55 of file diff_controller.py.

t_next

arbotix_python.diff_controller.DiffController.t_next

Definition at line 56 of file diff_controller.py.

th

arbotix_python.diff_controller.DiffController.th

Definition at line 87 of file diff_controller.py.

then

arbotix_python.diff_controller.DiffController.then

Definition at line 90 of file diff_controller.py.

ticks_meter

arbotix_python.diff_controller.DiffController.ticks_meter

Definition at line 57 of file diff_controller.py.

timeout

arbotix_python.diff_controller.DiffController.timeout

Definition at line 54 of file diff_controller.py.

v_des_left

arbotix_python.diff_controller.DiffController.v_des_left

Definition at line 81 of file diff_controller.py.

v_des_right

arbotix_python.diff_controller.DiffController.v_des_right

Definition at line 82 of file diff_controller.py.

v_left

arbotix_python.diff_controller.DiffController.v_left

Definition at line 79 of file diff_controller.py.

v_right

arbotix_python.diff_controller.DiffController.v_right

Definition at line 80 of file diff_controller.py.

x

arbotix_python.diff_controller.DiffController.x

Definition at line 85 of file diff_controller.py.

y

arbotix_python.diff_controller.DiffController.y

Definition at line 86 of file diff_controller.py.

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

• diff_controller.py