Public Member Functions | Public Attributes | Private Member Functions
robotis.lib_robotis.Robotis_Servo Class Reference

List of all members.

Public Member Functions

def __init__
def disable_torque
def enable_torque
def init_cont_turn
def is_moving
def kill_cont_turn
def move_angle
def move_to_encoder
def process_err
def read_address
def read_angle
def read_encoder
def read_load
def read_temperature
def read_voltage
def receive_reply
def send_instruction
def send_serial
def set_angvel
def write_address
def write_id

Public Attributes

 dyn
 return_delay
 servo_id
 settings

Private Member Functions

def __calc_checksum

Detailed Description

Class to use a robotis RX-28 or RX-64 servo.

Definition at line 93 of file lib_robotis.py.


Constructor & Destructor Documentation

def robotis.lib_robotis.Robotis_Servo.__init__ (   self,
  USB2Dynamixel,
  servo_id,
  series = None 
)
USB2Dynamixel - USB2Dynamixel_Device object to handle serial port.
            Handles threadsafe operation for multiple servos
    servo_id - servo ids connected to USB2Dynamixel 1,2,3,4 ... (1 to 253)
       [0 is broadcast if memory serves]
    series - Just a convenience for defining "good" defaults on MX series.
     When set to "MX" it uses these values, otherwise it uses values
     better for AX / RX series.  Any of the defaults can be overloaded
     on a servo-by-servo bases in servo_config.py

Definition at line 96 of file lib_robotis.py.


Member Function Documentation

def robotis.lib_robotis.Robotis_Servo.__calc_checksum (   self,
  msg 
) [private]

Definition at line 281 of file lib_robotis.py.

Definition at line 261 of file lib_robotis.py.

Definition at line 258 of file lib_robotis.py.

sets CCW angle limit to zero and allows continuous turning (good for wheels).
After calling this method, simply use 'set_angvel' to command rotation.  This 
rotation is proportional to torque according to Robotis documentation.

Definition at line 165 of file lib_robotis.py.

returns True if servo is moving.

Definition at line 177 of file lib_robotis.py.

resets CCW angle limits to allow commands through 'move_angle' again

Definition at line 172 of file lib_robotis.py.

def robotis.lib_robotis.Robotis_Servo.move_angle (   self,
  ang,
  angvel = None,
  blocking = True 
)
move to angle (radians)

Definition at line 221 of file lib_robotis.py.

move to encoder position n

Definition at line 249 of file lib_robotis.py.

Definition at line 322 of file lib_robotis.py.

def robotis.lib_robotis.Robotis_Servo.read_address (   self,
  address,
  nBytes = 1 
)
reads nBytes from address on the servo.
    returns [n1,n2 ...] (list of parameters)

Definition at line 288 of file lib_robotis.py.

returns the current servo angle (radians)

Definition at line 213 of file lib_robotis.py.

returns position in encoder ticks

Definition at line 206 of file lib_robotis.py.

number proportional to the torque applied by the servo.
    sign etc. might vary with how the servo is mounted.

Definition at line 195 of file lib_robotis.py.

returns the temperature (Celcius)

Definition at line 189 of file lib_robotis.py.

returns voltage (Volts)

Definition at line 183 of file lib_robotis.py.

Definition at line 325 of file lib_robotis.py.

def robotis.lib_robotis.Robotis_Servo.send_instruction (   self,
  instruction,
  id 
)

Definition at line 303 of file lib_robotis.py.

sends the command to the servo

Definition at line 339 of file lib_robotis.py.

def robotis.lib_robotis.Robotis_Servo.set_angvel (   self,
  angvel 
)
angvel - in rad/sec

Definition at line 264 of file lib_robotis.py.

def robotis.lib_robotis.Robotis_Servo.write_address (   self,
  address,
  data 
)
writes data at the address.
    data = [n1,n2 ...] list of numbers.
    return [n1,n2 ...] (list of return parameters)

Definition at line 295 of file lib_robotis.py.

changes the servo id

Definition at line 276 of file lib_robotis.py.


Member Data Documentation

Definition at line 104 of file lib_robotis.py.

Definition at line 104 of file lib_robotis.py.

Definition at line 104 of file lib_robotis.py.

Definition at line 104 of file lib_robotis.py.


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


robotis
Author(s): Travis Deyle, Advait Jain, Marc Killpack, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:37:53