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def | __init__ (self, device, name, ns="~joints") |
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def | angleToTicks (self, angle) |
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def | commandCb (self, req) |
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def | enableCb (self, req) |
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def | getDiagnostics (self) |
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def | interpolate (self, frame) |
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def | relaxCb (self, req) |
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def | setControlOutput (self, position) |
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def | setCurrentFeedback (self, reading) |
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def | setSpeedCb (self, req) |
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def | speedToTicks (self, rads_per_sec) |
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def | ticksToAngle (self, ticks) |
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def | __init__ (self, device, name) |
| Constructs a Joint instance. More...
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def | getDiagnostics (self) |
| Get a diagnostics message for this joint. More...
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def | interpolate (self, frame) |
| Get new output, in raw data format. More...
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def | setControlOutput (self, position) |
| Set the goal position. More...
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def | setCurrentFeedback (self, raw_data) |
| Set the current position from feedback data. More...
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Definition at line 41 of file servo_controller.py.
◆ __init__()
def arbotix_python.servo_controller.DynamixelServo.__init__ |
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self, |
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device, |
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name, |
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ns = "~joints" |
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) |
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◆ angleToTicks()
def arbotix_python.servo_controller.DynamixelServo.angleToTicks |
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self, |
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angle |
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) |
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◆ commandCb()
def arbotix_python.servo_controller.DynamixelServo.commandCb |
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self, |
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req |
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) |
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◆ enableCb()
def arbotix_python.servo_controller.DynamixelServo.enableCb |
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self, |
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req |
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) |
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◆ getDiagnostics()
def arbotix_python.servo_controller.DynamixelServo.getDiagnostics |
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self | ) |
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◆ interpolate()
def arbotix_python.servo_controller.DynamixelServo.interpolate |
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self, |
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frame |
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) |
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◆ relaxCb()
def arbotix_python.servo_controller.DynamixelServo.relaxCb |
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self, |
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req |
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) |
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◆ setControlOutput()
def arbotix_python.servo_controller.DynamixelServo.setControlOutput |
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self, |
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position |
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Set the position that controller is moving to.
Returns output value in ticks.
Definition at line 143 of file servo_controller.py.
◆ setCurrentFeedback()
def arbotix_python.servo_controller.DynamixelServo.setCurrentFeedback |
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self, |
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reading |
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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.
◆ setSpeedCb()
def arbotix_python.servo_controller.DynamixelServo.setSpeedCb |
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self, |
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req |
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) |
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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.
◆ speedToTicks()
def arbotix_python.servo_controller.DynamixelServo.speedToTicks |
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self, |
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rads_per_sec |
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Convert speed in radians per second to ticks, applying limits.
Definition at line 204 of file servo_controller.py.
◆ ticksToAngle()
def arbotix_python.servo_controller.DynamixelServo.ticksToAngle |
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self, |
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ticks |
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◆ active
arbotix_python.servo_controller.DynamixelServo.active |
◆ desired
arbotix_python.servo_controller.DynamixelServo.desired |
◆ dirty
arbotix_python.servo_controller.DynamixelServo.dirty |
◆ enabled
arbotix_python.servo_controller.DynamixelServo.enabled |
◆ errors
arbotix_python.servo_controller.DynamixelServo.errors |
◆ id
arbotix_python.servo_controller.DynamixelServo.id |
◆ invert
arbotix_python.servo_controller.DynamixelServo.invert |
◆ last
arbotix_python.servo_controller.DynamixelServo.last |
◆ last_cmd
arbotix_python.servo_controller.DynamixelServo.last_cmd |
◆ level
arbotix_python.servo_controller.DynamixelServo.level |
◆ max_angle
arbotix_python.servo_controller.DynamixelServo.max_angle |
◆ max_speed
arbotix_python.servo_controller.DynamixelServo.max_speed |
◆ min_angle
arbotix_python.servo_controller.DynamixelServo.min_angle |
◆ neutral
arbotix_python.servo_controller.DynamixelServo.neutral |
◆ position
arbotix_python.servo_controller.DynamixelServo.position |
◆ rad_per_tick
arbotix_python.servo_controller.DynamixelServo.rad_per_tick |
◆ range
arbotix_python.servo_controller.DynamixelServo.range |
◆ readable
arbotix_python.servo_controller.DynamixelServo.readable |
◆ reads
arbotix_python.servo_controller.DynamixelServo.reads |
◆ speed
arbotix_python.servo_controller.DynamixelServo.speed |
◆ status
arbotix_python.servo_controller.DynamixelServo.status |
◆ temperature
arbotix_python.servo_controller.DynamixelServo.temperature |
◆ ticks
arbotix_python.servo_controller.DynamixelServo.ticks |
◆ total_errors
arbotix_python.servo_controller.DynamixelServo.total_errors |
◆ total_reads
arbotix_python.servo_controller.DynamixelServo.total_reads |
◆ velocity
arbotix_python.servo_controller.DynamixelServo.velocity |
◆ voltage
arbotix_python.servo_controller.DynamixelServo.voltage |
The documentation for this class was generated from the following file: