arbotix_python.linear_controller.LinearControllerIncremental Class Reference

Inheritance diagram for arbotix_python.linear_controller.LinearControllerIncremental:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Controller instance. More...
def	getPosition (self)
def	setSpeed (self, speed)
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	zeroCb (self, msg)
def	zeroEncoder (self, timeout=15.0)
Public Member Functions inherited from arbotix_python.linear_controller.LinearControllerAbsolute
def	getDiagnostics (self)
def	update (self)
	Do any read/writes to device. More...
Public Member Functions inherited from arbotix_python.controllers.Controller
def	active (self)
	Is the controller actively sending commands to joints? More...

Public Attributes
	a
	b
	delta
	joint
	last
	last_reading
	next
	p
	pause
Public Attributes inherited from arbotix_python.linear_controller.LinearControllerAbsolute
	a
	analog
	b
	delta
	joint
	last
	last_reading
	next
	p
Public Attributes inherited from arbotix_python.controllers.Controller
	device
	fake
	joint_names
	joint_positions
	joint_velocities
	name
	pause

Static Public Attributes
int	DIRECTION = 102
int	POSITION_H = 101
int	POSITION_L = 100

Detailed Description

A controller for a linear actuator, without absolute encoder. 

Definition at line 214 of file linear_controller.py.

Constructor & Destructor Documentation

__init__()

def arbotix_python.linear_controller.LinearControllerIncremental.__init__	(		self,
			device,
			name
	)

Constructs a Controller instance.

Parameters

device	The arbotix instance.
name	The controller name.

Reimplemented from arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 220 of file linear_controller.py.

Member Function Documentation

getPosition()

def arbotix_python.linear_controller.LinearControllerIncremental.getPosition

(

self

)

Reimplemented from arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 255 of file linear_controller.py.

setSpeed()

def arbotix_python.linear_controller.LinearControllerIncremental.setSpeed	(		self,
			speed
	)

Set speed of actuator. We need to set direction for encoder. 

Reimplemented from arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 242 of file linear_controller.py.

shutdown()

def arbotix_python.linear_controller.LinearControllerIncremental.shutdown

(

self

)

Stop the controller, do any hardware shutdown needed.

Reimplemented from arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 282 of file linear_controller.py.

startup()

def arbotix_python.linear_controller.LinearControllerIncremental.startup

(

self

)

Start the controller, do any hardware setup needed.

Reimplemented from arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 238 of file linear_controller.py.

zeroCb()

def arbotix_python.linear_controller.LinearControllerIncremental.zeroCb	(		self,
			msg
	)

Definition at line 277 of file linear_controller.py.

zeroEncoder()

def arbotix_python.linear_controller.LinearControllerIncremental.zeroEncoder	(		self,
			timeout = 15.0
	)

Definition at line 258 of file linear_controller.py.

Member Data Documentation

a

arbotix_python.linear_controller.LinearControllerIncremental.a

Definition at line 224 of file linear_controller.py.

b

arbotix_python.linear_controller.LinearControllerIncremental.b

Definition at line 225 of file linear_controller.py.

delta

arbotix_python.linear_controller.LinearControllerIncremental.delta

Definition at line 230 of file linear_controller.py.

DIRECTION

int arbotix_python.linear_controller.LinearControllerIncremental.DIRECTION = 102

static

Definition at line 218 of file linear_controller.py.

joint

arbotix_python.linear_controller.LinearControllerIncremental.joint

Definition at line 233 of file linear_controller.py.

last

arbotix_python.linear_controller.LinearControllerIncremental.last

Definition at line 227 of file linear_controller.py.

last_reading

arbotix_python.linear_controller.LinearControllerIncremental.last_reading

Definition at line 228 of file linear_controller.py.

next

arbotix_python.linear_controller.LinearControllerIncremental.next

Definition at line 231 of file linear_controller.py.

p

arbotix_python.linear_controller.LinearControllerIncremental.p

Definition at line 226 of file linear_controller.py.

pause

arbotix_python.linear_controller.LinearControllerIncremental.pause

Definition at line 222 of file linear_controller.py.

POSITION_H

int arbotix_python.linear_controller.LinearControllerIncremental.POSITION_H = 101

static

Definition at line 217 of file linear_controller.py.

POSITION_L

int arbotix_python.linear_controller.LinearControllerIncremental.POSITION_L = 100

static

Definition at line 216 of file linear_controller.py.

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

• linear_controller.py