Public Member Functions | |
| def | __init__ |
| def | disable_torque |
| def | enable_torque |
| def | is_moving |
| def | move_angle |
| def | print_encoder_value |
| def | read_angle |
| def | read_load |
| def | read_location |
| def | read_serial |
| def | read_temperature |
| def | read_voltage |
| def | send_instruction |
| def | set_angvel |
| def | write_id |
| def | write_location |
Public Attributes | |
| dev_name | |
| fast_angvel | |
| flipped | |
| home_encoder_value | |
| max_ang | |
| min_ang | |
| servo_dev | |
| servo_id | |
Private Member Functions | |
| def | __calc_checksum |
| def | __move_to_encoder |
| def | __open_serial |
| def | __send_serial |
| def | __torque_enable |
class to use a robotis servo.
Definition at line 40 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__init__ | ( | self, | |
| dev_name, | |||
| servo_id, | |||
baudrate = 57600, |
|||
max_speed = math.radians(50) |
|||
| ) |
dev_name - name of serial device of the servo controller (e.g. '/dev/robot/servo0')
servo_id - 2,3,4 ... (2 to 253)
baudrate - for the servo controller.
max_speed - max allowable speed for the servo (radians/sec)
Definition at line 43 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__calc_checksum | ( | self, | |
| msg | |||
| ) | [private] |
Definition at line 210 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__move_to_encoder | ( | self, | |
| n | |||
| ) | [private] |
move to encoder position n
Definition at line 134 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__open_serial | ( | self, | |
| baudrate | |||
| ) | [private] |
Definition at line 237 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__send_serial | ( | self, | |
| msg | |||
| ) | [private] |
sends the command to the servo
Definition at line 223 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.__torque_enable | ( | self, | |
| n | |||
| ) | [private] |
Definition at line 125 of file robotis_servo.py.
Definition at line 131 of file robotis_servo.py.
Definition at line 128 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.is_moving | ( | self | ) |
returns True if servo is moving.
Definition at line 79 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.move_angle | ( | self, | |
| ang, | |||
angvel = None, |
|||
blocking = True |
|||
| ) |
move to angle (radians)
Definition at line 140 of file robotis_servo.py.
position in encoder ticks
Definition at line 106 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.read_angle | ( | self | ) |
returns the current servo angle (radians)
Definition at line 97 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.read_load | ( | self | ) |
number proportional to the torque applied by the servo.
sign etc. might vary with how the servo is mounted.
Definition at line 113 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.read_location | ( | self, | |
| address, | |||
nBytes = 1 |
|||
| ) |
reads nBytes from address on the servo.
returns [n1,n2 ...], error
list of parameters, error byte.
Definition at line 192 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.read_serial | ( | self, | |
nBytes = 1 |
|||
| ) |
Definition at line 233 of file robotis_servo.py.
returns the temperature (Celcius)
Definition at line 91 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.read_voltage | ( | self | ) |
returns voltage (Volts)
Definition at line 85 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.send_instruction | ( | self, | |
| instruction, | |||
| id | |||
| ) |
Definition at line 217 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.set_angvel | ( | self, | |
| angvel | |||
| ) |
angvel - in rad/sec
Definition at line 172 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.write_id | ( | self, | |
| id | |||
| ) |
changes the servo id
Definition at line 180 of file robotis_servo.py.
| def robotis.robotis_servo.robotis_servo.write_location | ( | self, | |
| address, | |||
| data | |||
| ) |
writes data at the address.
data = [n1,n2 ...] list of numbers.
Definition at line 185 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.
Definition at line 47 of file robotis_servo.py.