Public Member Functions | |
| def | __init__ (self, device, name) |
| def | cmdVelCb (self, req) |
| def | getDiagnostics (self) |
| def | setup (self, kp, kd, ki, ko) |
| Controller Specification: More... | |
| def | shutdown (self) |
| def | startup (self) |
| def | status (self) |
| def | update (self) |
| def | write (self, left, right) |
 Public Member Functions inherited from arbotix_python.controllers.Controller | |
| 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 | |
| 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 | |||
| ) |
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.
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 | ) |
Definition at line 202 of file diff_controller.py.
◆ startup()
| def arbotix_python.diff_controller.DiffController.startup | ( | self | ) |
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 | ) |
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.
The documentation for this class was generated from the following file: