arbotix_python.servo_controller.HobbyServo Class Reference

Inheritance diagram for arbotix_python.servo_controller.HobbyServo:

Public Member Functions
def	__init__ (self, device, name, ns="~joints")
def	angleToTicks (self, angle)
def	commandCb (self, req)
def	getDiagnostics (self)
def	interpolate (self, frame)
def	setControlOutput (self, position)
def	setCurrentFeedback (self, raw_data)
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
	desired
	dirty
	id
	invert
	last
	last_cmd
	max_angle
	max_speed
	min_angle
	neutral
	position
	rad_per_tick
	range
	speed
	ticks
	velocity
Public Attributes inherited from arbotix_python.joints.Joint
	controller
	device
	last
	name
	position
	velocity

Detailed Description

Definition at line 252 of file servo_controller.py.

Constructor & Destructor Documentation

__init__()

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

Definition at line 254 of file servo_controller.py.

Member Function Documentation

angleToTicks()

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

Convert an angle to ticks, applying limits. 

Definition at line 326 of file servo_controller.py.

commandCb()

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

Float64 style command input. 

Definition at line 344 of file servo_controller.py.

getDiagnostics()

def arbotix_python.servo_controller.HobbyServo.getDiagnostics

(

self

)

Get a diagnostics status. 

Definition at line 317 of file servo_controller.py.

interpolate()

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

Get the new position to move to, in ticks. 

Definition at line 281 of file servo_controller.py.

setControlOutput()

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

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

Definition at line 309 of file servo_controller.py.

setCurrentFeedback()

def arbotix_python.servo_controller.HobbyServo.setCurrentFeedback	(		self,
			raw_data
	)

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

Definition at line 304 of file servo_controller.py.

ticksToAngle()

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

Convert an ticks to angle, applying limits. 

Definition at line 337 of file servo_controller.py.

Member Data Documentation

desired

arbotix_python.servo_controller.HobbyServo.desired

Definition at line 273 of file servo_controller.py.

dirty

arbotix_python.servo_controller.HobbyServo.dirty

Definition at line 271 of file servo_controller.py.

id

arbotix_python.servo_controller.HobbyServo.id

Definition at line 258 of file servo_controller.py.

invert

arbotix_python.servo_controller.HobbyServo.invert

Definition at line 269 of file servo_controller.py.

last

arbotix_python.servo_controller.HobbyServo.last

Definition at line 276 of file servo_controller.py.

last_cmd

arbotix_python.servo_controller.HobbyServo.last_cmd

Definition at line 274 of file servo_controller.py.

max_angle

arbotix_python.servo_controller.HobbyServo.max_angle

Definition at line 265 of file servo_controller.py.

max_speed

arbotix_python.servo_controller.HobbyServo.max_speed

Definition at line 267 of file servo_controller.py.

min_angle

arbotix_python.servo_controller.HobbyServo.min_angle

Definition at line 266 of file servo_controller.py.

neutral

arbotix_python.servo_controller.HobbyServo.neutral

Definition at line 260 of file servo_controller.py.

position

arbotix_python.servo_controller.HobbyServo.position

Definition at line 272 of file servo_controller.py.

rad_per_tick

arbotix_python.servo_controller.HobbyServo.rad_per_tick

Definition at line 262 of file servo_controller.py.

range

arbotix_python.servo_controller.HobbyServo.range

Definition at line 261 of file servo_controller.py.

speed

arbotix_python.servo_controller.HobbyServo.speed

Definition at line 293 of file servo_controller.py.

ticks

arbotix_python.servo_controller.HobbyServo.ticks

Definition at line 259 of file servo_controller.py.

velocity

arbotix_python.servo_controller.HobbyServo.velocity

Definition at line 275 of file servo_controller.py.

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

• servo_controller.py