pan_tilt_robotis.pan_tilt.PanTilt Class Reference

List of all members.

Public Member Functions
def	__init__
	Assumes that both pan and tilt servos are controlled using the same usb2dynamixel adaptor.
def	get_pan_tilt
	return (pan,tilt) angles in RADIANS.
def	get_ptz_angles_rad
def	get_ptz_values
def	set_pan_tilt
	set (pan,tilt) angles in RADIANS.
def	set_pan_tilt_delta
	new pan,tilt = current pan,tilt + pan_d,tilt_d blocks until the pan and tilt angles are attained.
def	set_ptz_angles_rad
def	set_ptz_values
Public Attributes
	max_pan
	max_tilt
	min_pan
	min_tilt
	pan_servo
	tilt_servo

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Detailed Description

Definition at line 41 of file pan_tilt.py.

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Constructor & Destructor Documentation

def pan_tilt_robotis.pan_tilt.PanTilt.__init__	(		self,
			dev_name,
			pan_id,
			tilt_id,
			baudrate = 57600,
			pan_speed = math.radians(180),
			tilt_speed = math.radians(180)
	)

Assumes that both pan and tilt servos are controlled using the same usb2dynamixel adaptor.

Parameters:

dev_name	- name of serial device of the servo controller (e.g. '/dev/robot/servo0')
pan_id	- servo id for the pan Robotis servo.
pan_id	- servo id for the tilt Robotis servo.
baudrate	- for the servo controller (usb2dynamixel)
pan_speed	- max pan speed (radians/sec)
tilt_speed	- max tilt speed (radians/sec)

Definition at line 51 of file pan_tilt.py.

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Member Function Documentation

def pan_tilt_robotis.pan_tilt.PanTilt.get_pan_tilt

(

self

)

return (pan,tilt) angles in RADIANS.

Definition at line 67 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.get_ptz_angles_rad

(

self

)

Definition at line 98 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.get_ptz_values

(

self

)

Definition at line 102 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.set_pan_tilt	(		self,
			pan,
			tilt,
			speed = math.radians(180)
	)

set (pan,tilt) angles in RADIANS.

blocks until the pan and tilt angles are attained.

Parameters:

pan	- pan angle (RADIANS)
tilt	- tilt angle (RADIANS)

Definition at line 76 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.set_pan_tilt_delta	(		self,
			pan_d,
			tilt_d
	)

new pan,tilt = current pan,tilt + pan_d,tilt_d blocks until the pan and tilt angles are attained.

Parameters:

pan	- pan angle (RADIANS)
tilt	- tilt angle (RADIANS)

Definition at line 86 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.set_ptz_angles_rad	(		self,
			pan,
			tilt
	)

Definition at line 90 of file pan_tilt.py.

def pan_tilt_robotis.pan_tilt.PanTilt.set_ptz_values	(		self,
			pan,
			tilt,
			blocking = True
	)

Definition at line 94 of file pan_tilt.py.

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Member Data Documentation

pan_tilt_robotis::pan_tilt.PanTilt::max_pan

Definition at line 51 of file pan_tilt.py.

pan_tilt_robotis::pan_tilt.PanTilt::max_tilt

Definition at line 51 of file pan_tilt.py.

pan_tilt_robotis::pan_tilt.PanTilt::min_pan

Definition at line 51 of file pan_tilt.py.

pan_tilt_robotis::pan_tilt.PanTilt::min_tilt

Definition at line 51 of file pan_tilt.py.

pan_tilt_robotis::pan_tilt.PanTilt::pan_servo

Definition at line 51 of file pan_tilt.py.

pan_tilt_robotis::pan_tilt.PanTilt::tilt_servo

Definition at line 51 of file pan_tilt.py.

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

• pan_tilt.py