Classes
class	JointTrajectoryActionServer

Variables
	arm = arm.Arm()

list	GOAL_TOLERANCE = [0.05, 0.05, 0.05, 0.05, 0.05]

string	OUTPUT_STRIP_CHARS = string.whitespace + '>'

	port = arm.connect()

list	RATIOS = [3640, 8400, 6000, 4000, 4500]

	server = JointTrajectoryActionServer('r12_arm_controller')

Function Documentation

◆ angle_to_joint()

def joint_trajectory_action_server.angle_to_joint ( li )

Reorganise alphabetical angle values into waist-to-wrist ordered joint counts for sending to arm

def joint_trajectory_action_server.joint_to_angle ( li )

Reorganise waist-to-wrist ordered joint counts into alphabetical angle values for ros publishing

joint_trajectory_action_server.arm = arm.Arm()

list joint_trajectory_action_server.GOAL_TOLERANCE = [0.05, 0.05, 0.05, 0.05, 0.05]

string joint_trajectory_action_server.OUTPUT_STRIP_CHARS = string.whitespace + '>'

joint_trajectory_action_server.port = arm.connect()

list joint_trajectory_action_server.RATIOS = [3640, 8400, 6000, 4000, 4500]

joint_trajectory_action_server.server = JointTrajectoryActionServer('r12_arm_controller')