arbotix_python.servo_controller.DynamixelServo Class Reference

Inheritance diagram for arbotix_python.servo_controller.DynamixelServo:

Public Member Functions
def	__init__ (self, device, name, ns="~joints")
def	angleToTicks (self, angle)
def	commandCb (self, req)
def	enableCb (self, req)
def	getDiagnostics (self)
def	interpolate (self, frame)
def	relaxCb (self, req)
def	setControlOutput (self, position)
def	setCurrentFeedback (self, reading)
def	setSpeedCb (self, req)
def	speedToTicks (self, rads_per_sec)
def	ticksToAngle (self, ticks)
Public Member Functions inherited from arbotix_python.joints.Joint
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
	active
	desired
	dirty
	enabled
	errors
	id
	invert
	last
	last_cmd
	level
	max_angle
	max_speed
	min_angle
	neutral
	position
	rad_per_tick
	range
	readable
	reads
	speed
	status
	temperature
	ticks
	total_errors
	total_reads
	velocity
	voltage
Public Attributes inherited from arbotix_python.joints.Joint
	controller
	device
	last
	name
	position
	velocity

Detailed Description

Definition at line 41 of file servo_controller.py.

Constructor & Destructor Documentation

def arbotix_python.servo_controller.DynamixelServo.__init__	(		self,
			device,
			name,
			ns = "~joints"
	)

Definition at line 43 of file servo_controller.py.

Member Function Documentation

def arbotix_python.servo_controller.DynamixelServo.angleToTicks	(		self,
			angle
	)

Convert an angle to ticks, applying limits. 

Definition at line 186 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.commandCb	(		self,
			req
	)

Float64 style command input. 

Definition at line 233 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.enableCb	(		self,
			req
	)

Turn on/off servo torque, so that it is pose-able. 

Definition at line 213 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.getDiagnostics

(

self

)

Get a diagnostics status. 

Definition at line 154 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.interpolate	(		self,
			frame
	)

Get the new position to move to, in ticks. 

Definition at line 91 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.relaxCb	(		self,
			req
	)

Turn off servo torque, so that it is pose-able. 

Definition at line 225 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.setControlOutput	(		self,
			position
	)

Set the position that controller is moving to. 
    Returns output value in ticks. 

Definition at line 143 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.setCurrentFeedback	(		self,
			reading
	)

Update angle in radians by reading from servo, or by 
    using position passed in from a sync read (in ticks). 

Definition at line 123 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.setSpeedCb	(		self,
			req
	)

Set servo speed. Requested speed is in radians per second.
    Don't allow 0 which means "max speed" to a Dynamixel in joint mode. 

Definition at line 244 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.speedToTicks	(		self,
			rads_per_sec
	)

Convert speed in radians per second to ticks, applying limits. 

Definition at line 204 of file servo_controller.py.

def arbotix_python.servo_controller.DynamixelServo.ticksToAngle	(		self,
			ticks
	)

Convert an ticks to angle, applying limits. 

Definition at line 197 of file servo_controller.py.

Member Data Documentation

arbotix_python.servo_controller.DynamixelServo.active

Definition at line 74 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.desired

Definition at line 70 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.dirty

Definition at line 68 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.enabled

Definition at line 73 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.errors

Definition at line 78 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.id

Definition at line 47 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.invert

Definition at line 62 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.last

Definition at line 75 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.last_cmd

Definition at line 71 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.level

Definition at line 66 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.max_angle

Definition at line 58 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.max_speed

Definition at line 60 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.min_angle

Definition at line 59 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.neutral

Definition at line 49 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.position

Definition at line 69 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.rad_per_tick

Definition at line 55 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.range

Definition at line 51 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.readable

Definition at line 63 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.reads

Definition at line 77 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.speed

Definition at line 103 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.status

Definition at line 65 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.temperature

Definition at line 83 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.ticks

Definition at line 48 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.total_errors

Definition at line 80 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.total_reads

Definition at line 79 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.velocity

Definition at line 72 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.voltage

Definition at line 82 of file servo_controller.py.

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

• servo_controller.py