Inheritance diagram for sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib:

Public Member Functions
def	__init__ (self)

def	activate (self)

def	activate_joint_states (self)

def	debug_callback (self, msg)

def	get_average_raw_value (self, sensor_name, number_of_samples=10, accept_zeros=True)

def	get_compound_names (self, sensor_name)

def	get_effort (self, joint_name)

def	get_position (self, joint_name)

def	get_raw_value (self, sensor_name)

def	get_raw_value_index (self, sensor_name)

def	get_velocity (self, joint_name)

def	joint_state_callback (self, msg)

def	on_close (self)

def	sendupdate (self, joint_name, target, controller_type="effort")

def	set_pid (self, joint_name, pid_parameters)

def	start_record (self, joint_name, callback)

def	stop_record (self, joint_name)

Public Attributes
	callback

	compounds

	debug_subscriber

	efforts

	hand_finder

	hand_id

	hand_params

	joint_state_subscriber

	msg_to_send

	pid_services

	positions

	publishers

	raw_values

	record_js_callback

	velocities

Static Public Attributes
list	sensors

Detailed Description

Useful python library to communicate with the etherCAT hand.

Definition at line 31 of file etherCAT_hand_lib.py.

Constructor & Destructor Documentation

◆ init()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.__init__ ( self )

Useful python library to communicate with the etherCAT hand.

Definition at line 46 of file etherCAT_hand_lib.py.

Member Function Documentation

◆ activate()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate ( self )

Definition at line 250 of file etherCAT_hand_lib.py.

◆ activate_joint_states()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.activate_joint_states ( self )

Definition at line 268 of file etherCAT_hand_lib.py.

◆ debug_callback()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.debug_callback	(	self,
		msg
	)

Definition at line 175 of file etherCAT_hand_lib.py.

◆ get_average_raw_value()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_average_raw_value	(	self,
		sensor_name,
		number_of_samples = `10`,
		accept_zeros = `True`
	)

Get the average raw value for the given sensor, average on
number_of_samples

Definition at line 236 of file etherCAT_hand_lib.py.

◆ get_compound_names()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_compound_names	(	self,
		sensor_name
	)

Definition at line 222 of file etherCAT_hand_lib.py.

◆ get_effort()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_effort	(	self,
		joint_name
	)

Definition at line 134 of file etherCAT_hand_lib.py.

◆ get_position()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_position	(	self,
		joint_name
	)

Definition at line 103 of file etherCAT_hand_lib.py.

◆ get_raw_value()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_raw_value	(	self,
		sensor_name
	)

Definition at line 189 of file etherCAT_hand_lib.py.

◆ get_raw_value_index()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_raw_value_index	(	self,
		sensor_name
	)

Definition at line 209 of file etherCAT_hand_lib.py.

◆ get_velocity()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.get_velocity	(	self,
		joint_name
	)

Definition at line 119 of file etherCAT_hand_lib.py.

◆ joint_state_callback()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.joint_state_callback	(	self,
		msg
	)

Definition at line 179 of file etherCAT_hand_lib.py.

◆ on_close()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.on_close ( self )

Definition at line 281 of file etherCAT_hand_lib.py.

◆ sendupdate()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.sendupdate	(	self,
		joint_name,
		target,
		controller_type = `"effort"`
	)

Definition at line 94 of file etherCAT_hand_lib.py.

◆ set_pid()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.set_pid	(	self,
		joint_name,
		pid_parameters
	)

Definition at line 156 of file etherCAT_hand_lib.py.

◆ start_record()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.start_record	(	self,
		joint_name,
		callback
	)

Definition at line 150 of file etherCAT_hand_lib.py.

◆ stop_record()

def sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.stop_record	(	self,
		joint_name
	)

Definition at line 153 of file etherCAT_hand_lib.py.

Member Data Documentation

◆ callback

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.callback

Definition at line 154 of file etherCAT_hand_lib.py.

◆ compounds

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.compounds

Definition at line 69 of file etherCAT_hand_lib.py.

◆ debug_subscriber

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.debug_subscriber

Definition at line 55 of file etherCAT_hand_lib.py.

◆ efforts

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.efforts

Definition at line 63 of file etherCAT_hand_lib.py.

◆ hand_finder

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_finder

Definition at line 50 of file etherCAT_hand_lib.py.

◆ hand_id

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_id

Definition at line 52 of file etherCAT_hand_lib.py.

◆ hand_params

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.hand_params

Definition at line 51 of file etherCAT_hand_lib.py.

◆ joint_state_subscriber

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.joint_state_subscriber

Definition at line 56 of file etherCAT_hand_lib.py.

◆ msg_to_send

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.msg_to_send

Definition at line 65 of file etherCAT_hand_lib.py.

◆ pid_services

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.pid_services

Definition at line 59 of file etherCAT_hand_lib.py.

◆ positions

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.positions

Definition at line 61 of file etherCAT_hand_lib.py.

◆ publishers

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.publishers

Definition at line 60 of file etherCAT_hand_lib.py.

◆ raw_values

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.raw_values

Definition at line 58 of file etherCAT_hand_lib.py.

◆ record_js_callback

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.record_js_callback

Definition at line 57 of file etherCAT_hand_lib.py.

◆ sensors

list sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.sensors

static

Initial value:

=  ["FFJ1", "FFJ2", "FFJ3", "FFJ4",
               "MFJ1", "MFJ2", "MFJ3", "MFJ4",
               "RFJ1", "RFJ2", "RFJ3", "RFJ4",
               "LFJ1", "LFJ2", "LFJ3", "LFJ4", "LFJ5",
               "THJ1", "THJ2", "THJ3", "THJ4", "THJ5A", "THJ5B",
               "WRJ1A", "WRJ1B", "WRJ2",
               "ACCX", "ACCY", "ACCZ",
               "GYRX", "GYRY", "GYRZ",
               "AN0", "AN1", "AN2", "AN3"]

Definition at line 36 of file etherCAT_hand_lib.py.

◆ velocities

sr_robot_lib.etherCAT_hand_lib.EtherCAT_Hand_Lib.velocities

Definition at line 62 of file etherCAT_hand_lib.py.

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

etherCAT_hand_lib.py

Public Member Functions

Public Attributes

Static Public Attributes