Public Member Functions | |
def | __init__ (self, device, name, ns="~joints") |
def | angleToTicks (self, angle) |
def | commandCb (self, req) |
def | enableCb (self, req) |
def | getDiagnostics (self) |
def | interpolate (self, frame) |
def | relaxCb (self, req) |
def | setControlOutput (self, position) |
def | setCurrentFeedback (self, reading) |
def | setSpeedCb (self, req) |
def | speedToTicks (self, rads_per_sec) |
def | ticksToAngle (self, ticks) |
Public Member Functions inherited from arbotix_python.joints.Joint | |
def | __init__ (self, device, name) |
Constructs a Joint instance. More... | |
Public Attributes | |
active | |
desired | |
dirty | |
enabled | |
errors | |
id | |
invert | |
last | |
last_cmd | |
level | |
max_angle | |
max_speed | |
min_angle | |
neutral | |
position | |
rad_per_tick | |
range | |
readable | |
reads | |
speed | |
status | |
temperature | |
ticks | |
total_errors | |
total_reads | |
velocity | |
voltage | |
Public Attributes inherited from arbotix_python.joints.Joint | |
controller | |
device | |
last | |
name | |
position | |
velocity | |
Definition at line 41 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.__init__ | ( | self, | |
device, | |||
name, | |||
ns = "~joints" |
|||
) |
Definition at line 43 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.angleToTicks | ( | self, | |
angle | |||
) |
Convert an angle to ticks, applying limits.
Definition at line 186 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.commandCb | ( | self, | |
req | |||
) |
Float64 style command input.
Definition at line 233 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.enableCb | ( | self, | |
req | |||
) |
Turn on/off servo torque, so that it is pose-able.
Definition at line 213 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.getDiagnostics | ( | self | ) |
Get a diagnostics status.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 154 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.interpolate | ( | self, | |
frame | |||
) |
Get the new position to move to, in ticks.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 91 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.relaxCb | ( | self, | |
req | |||
) |
Turn off servo torque, so that it is pose-able.
Definition at line 225 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.setControlOutput | ( | self, | |
position | |||
) |
Set the position that controller is moving to. Returns output value in ticks.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 143 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.setCurrentFeedback | ( | self, | |
reading | |||
) |
Update angle in radians by reading from servo, or by using position passed in from a sync read (in ticks).
Reimplemented from arbotix_python.joints.Joint.
Definition at line 123 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.setSpeedCb | ( | self, | |
req | |||
) |
Set servo speed. Requested speed is in radians per second. Don't allow 0 which means "max speed" to a Dynamixel in joint mode.
Definition at line 244 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.speedToTicks | ( | self, | |
rads_per_sec | |||
) |
Convert speed in radians per second to ticks, applying limits.
Definition at line 204 of file servo_controller.py.
def arbotix_python.servo_controller.DynamixelServo.ticksToAngle | ( | self, | |
ticks | |||
) |
Convert an ticks to angle, applying limits.
Definition at line 197 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.active |
Definition at line 74 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.desired |
Definition at line 70 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.dirty |
Definition at line 68 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.enabled |
Definition at line 73 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.errors |
Definition at line 78 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.id |
Definition at line 47 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.invert |
Definition at line 62 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.last |
Definition at line 75 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.last_cmd |
Definition at line 71 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.level |
Definition at line 66 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.max_angle |
Definition at line 58 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.max_speed |
Definition at line 60 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.min_angle |
Definition at line 59 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.neutral |
Definition at line 49 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.position |
Definition at line 69 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.rad_per_tick |
Definition at line 55 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.range |
Definition at line 51 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.readable |
Definition at line 63 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.reads |
Definition at line 77 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.speed |
Definition at line 103 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.status |
Definition at line 65 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.temperature |
Definition at line 83 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.ticks |
Definition at line 48 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.total_errors |
Definition at line 80 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.total_reads |
Definition at line 79 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.velocity |
Definition at line 72 of file servo_controller.py.
arbotix_python.servo_controller.DynamixelServo.voltage |
Definition at line 82 of file servo_controller.py.