arbotix_python.joints.Joint Class Reference

Joints hold current values. More...

Inheritance diagram for arbotix_python.joints.Joint:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Joint instance. More...
def	getDiagnostics (self)
	Get a diagnostics message for this joint. More...
def	interpolate (self, frame)
	Get new output, in raw data format. More...
def	setControlOutput (self, position)
	Set the goal position. More...
def	setCurrentFeedback (self, raw_data)
	Set the current position from feedback data. More...

Public Attributes
	controller
	device
	last
	name
	position
	velocity

Detailed Description

Joints hold current values.

Definition at line 32 of file joints.py.

Constructor & Destructor Documentation

__init__()

def arbotix_python.joints.Joint.__init__	(		self,
			device,
			name
	)

Constructs a Joint instance.

Parameters

device	The arbotix instance.
name	The joint name.

Reimplemented in arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.

Member Function Documentation

getDiagnostics()

def arbotix_python.joints.Joint.getDiagnostics

(

self

)

Get a diagnostics message for this joint.

Returns

Diagnostics message.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 75 of file joints.py.

interpolate()

def arbotix_python.joints.Joint.interpolate	(		self,
			frame
	)

Get new output, in raw data format.

Parameters

frame

The frame length in seconds to interpolate forward.

Returns

The new output, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 53 of file joints.py.

setControlOutput()

def arbotix_python.joints.Joint.setControlOutput	(		self,
			position
	)

Set the goal position.

Parameters

position

The goal position, in radians/meters.

Returns

The output position, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 69 of file joints.py.

setCurrentFeedback()

def arbotix_python.joints.Joint.setCurrentFeedback	(		self,
			raw_data
	)

Set the current position from feedback data.

Parameters

raw_data

The current feedback.

Returns

The current position, in radians/meters.

Reimplemented in arbotix_python.servo_controller.DynamixelServo, arbotix_python.linear_controller.LinearJoint, and arbotix_python.servo_controller.HobbyServo.

Definition at line 61 of file joints.py.

Member Data Documentation

controller

arbotix_python.joints.Joint.controller

Definition at line 42 of file joints.py.

device

arbotix_python.joints.Joint.device

Definition at line 40 of file joints.py.

last

arbotix_python.joints.Joint.last

Definition at line 46 of file joints.py.

name

arbotix_python.joints.Joint.name

Definition at line 41 of file joints.py.

position

arbotix_python.joints.Joint.position

Definition at line 44 of file joints.py.

velocity

arbotix_python.joints.Joint.velocity

Definition at line 45 of file joints.py.

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

• joints.py