arbotix_python.controllers.Controller Class Reference

Controllers interact with ArbotiX hardware. More...

Inheritance diagram for arbotix_python.controllers.Controller:

List of all members.

Public Member Functions
def	__init__
	Constructs a Controller instance.
def	active
	Is the controller actively sending commands to joints?
def	getDiagnostics
	Get a diagnostics message for this joint.
def	shutdown
	Stop the controller, do any hardware shutdown needed.
def	startup
	Start the controller, do any hardware setup needed.
def	update
	Do any read/writes to device.
Public Attributes
	device
	fake
	joint_names
	joint_positions
	joint_velocities
	name
	pause

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Detailed Description

Controllers interact with ArbotiX hardware.

Definition at line 32 of file controllers.py.

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Constructor & Destructor Documentation

def arbotix_python.controllers.Controller.__init__	(		self,
			device,
			name
	)

Constructs a Controller instance.

Parameters:

device	The arbotix instance.
name	The controller name.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.linear_controller.LinearControllerAbsolute, arbotix_python.diff_controller.DiffController, and arbotix_python.follow_controller.FollowController.

Definition at line 39 of file controllers.py.

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Member Function Documentation

def arbotix_python.controllers.Controller.active

(

self

)

Is the controller actively sending commands to joints?

Reimplemented in arbotix_python.follow_controller.FollowController.

Definition at line 63 of file controllers.py.

def arbotix_python.controllers.Controller.getDiagnostics

(

self

)

Get a diagnostics message for this joint.

Returns:

Diagnostics message.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.diff_controller.DiffController, arbotix_python.linear_controller.LinearControllerAbsolute, and arbotix_python.follow_controller.FollowController.

Definition at line 69 of file controllers.py.

def arbotix_python.controllers.Controller.shutdown

(

self

)

Stop the controller, do any hardware shutdown needed.

Reimplemented in arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.diff_controller.DiffController, and arbotix_python.linear_controller.LinearControllerAbsolute.

Definition at line 59 of file controllers.py.

def arbotix_python.controllers.Controller.startup

(

self

)

Start the controller, do any hardware setup needed.

Reimplemented in arbotix_python.linear_controller.LinearControllerIncremental, arbotix_python.linear_controller.LinearControllerAbsolute, arbotix_python.diff_controller.DiffController, and arbotix_python.follow_controller.FollowController.

Definition at line 51 of file controllers.py.

def arbotix_python.controllers.Controller.update

(

self

)

Do any read/writes to device.

Reimplemented in arbotix_python.servo_controller.ServoController, arbotix_python.linear_controller.LinearControllerAbsolute, and arbotix_python.diff_controller.DiffController.

Definition at line 55 of file controllers.py.

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Member Data Documentation

arbotix_python::controllers.Controller::device

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::fake

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::joint_names

Reimplemented in arbotix_python.diff_controller.DiffController.

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::joint_positions

Reimplemented in arbotix_python.diff_controller.DiffController.

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::joint_velocities

Reimplemented in arbotix_python.diff_controller.DiffController.

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::name

Definition at line 39 of file controllers.py.

arbotix_python::controllers.Controller::pause

Reimplemented in arbotix_python.linear_controller.LinearControllerIncremental, and arbotix_python.diff_controller.DiffController.

Definition at line 39 of file controllers.py.

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

• controllers.py