arbotix_python.linear_controller.LinearJoint Class Reference

Inheritance diagram for arbotix_python.linear_controller.LinearJoint:

Public Member Functions
def	__init__ (self, device, name)
	Constructs a Joint instance. More...
def	commandCb (self, req)
def	getDiagnostics (self)
def	interpolate (self, frame)
def	readingToPosition (self, reading)
def	setControlOutput (self, position)
def	setCurrentFeedback (self, reading)
	Set the current position from feedback data. More...

Public Attributes
	cal
	cal_raw
	desired
	dirty
	keys
	last
	max
	max_speed
	min
	position
	velocity
Public Attributes inherited from arbotix_python.joints.Joint
	controller
	device
	last
	name
	position
	velocity

Detailed Description

Definition at line 40 of file linear_controller.py.

Constructor & Destructor Documentation

__init__()

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

Constructs a Joint instance.

Parameters

device	The arbotix instance.
name	The joint name.

Reimplemented from arbotix_python.joints.Joint.

Definition at line 41 of file linear_controller.py.

Member Function Documentation

commandCb()

def arbotix_python.linear_controller.LinearJoint.commandCb	(		self,
			req
	)

Float64 style command input. 

Definition at line 116 of file linear_controller.py.

getDiagnostics()

def arbotix_python.linear_controller.LinearJoint.getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python.joints.Joint.

Definition at line 104 of file linear_controller.py.

interpolate()

def arbotix_python.linear_controller.LinearJoint.interpolate	(		self,
			frame
	)

Get new output: 1 = increase position, -1 is decrease position. 

Reimplemented from arbotix_python.joints.Joint.

Definition at line 65 of file linear_controller.py.

readingToPosition()

def arbotix_python.linear_controller.LinearJoint.readingToPosition	(		self,
			reading
	)

Definition at line 127 of file linear_controller.py.

setControlOutput()

def arbotix_python.linear_controller.LinearJoint.setControlOutput	(		self,
			position
	)

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

Reimplemented from arbotix_python.joints.Joint.

Definition at line 94 of file linear_controller.py.

setCurrentFeedback()

def arbotix_python.linear_controller.LinearJoint.setCurrentFeedback	(		self,
			raw_data
	)

Set the current position from feedback data.

Parameters

raw_data

The current feedback.

Returns

The current position, in radians/meters.

Reimplemented from arbotix_python.joints.Joint.

Definition at line 83 of file linear_controller.py.

Member Data Documentation

cal

arbotix_python.linear_controller.LinearJoint.cal

Definition at line 56 of file linear_controller.py.

cal_raw

arbotix_python.linear_controller.LinearJoint.cal_raw

Definition at line 57 of file linear_controller.py.

desired

arbotix_python.linear_controller.LinearJoint.desired

Definition at line 46 of file linear_controller.py.

dirty

arbotix_python.linear_controller.LinearJoint.dirty

Definition at line 44 of file linear_controller.py.

keys

arbotix_python.linear_controller.LinearJoint.keys

Definition at line 61 of file linear_controller.py.

last

arbotix_python.linear_controller.LinearJoint.last

Definition at line 48 of file linear_controller.py.

max

arbotix_python.linear_controller.LinearJoint.max

Definition at line 52 of file linear_controller.py.

max_speed

arbotix_python.linear_controller.LinearJoint.max_speed

Definition at line 53 of file linear_controller.py.

min

arbotix_python.linear_controller.LinearJoint.min

Definition at line 51 of file linear_controller.py.

position

arbotix_python.linear_controller.LinearJoint.position

Definition at line 45 of file linear_controller.py.

velocity

arbotix_python.linear_controller.LinearJoint.velocity

Definition at line 47 of file linear_controller.py.

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

• linear_controller.py