Public Member Functions | Public Attributes
arbotix_python.diff_controller.DiffController Class Reference
Inheritance diagram for arbotix_python.diff_controller.DiffController:
Inheritance graph
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List of all members.

Public Member Functions

def __init__
 Constructs a Controller instance.
def cmdVelCb
def getDiagnostics
def setup
 Controller Specification:
def shutdown
 Stop the controller, do any hardware shutdown needed.
def startup
 Start the controller, do any hardware setup needed.
def status
def update
 Do any read/writes to device.
def write

Public Attributes

 accel_limit
 base_frame_id
 base_width
 dr
 dx
 enc_left
 enc_right
 joint_names
 joint_positions
 joint_velocities
 Kd
 Ki
 Ko
 Kp
 last_cmd
 max_accel
 odom_frame_id
 odomBroadcaster
 odomPub
 pause
 rate
 t_delta
 t_next
 th
 then
 ticks_meter
 timeout
 v_des_left
 v_des_right
 v_left
 v_right
 x
 y

Detailed Description

Controller to handle movement & odometry feedback for a differential 
        drive mobile base. 

Definition at line 44 of file diff_controller.py.


Constructor & Destructor Documentation

def arbotix_python.diff_controller.DiffController.__init__ (   self,
  device,
  name 
)

Constructs a Controller instance.

Parameters:
deviceThe arbotix instance.
nameThe controller name.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.


Member Function Documentation

Handle movement requests. 

Definition at line 206 of file diff_controller.py.

Get a diagnostics status. 

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 217 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.setup (   self,
  kp,
  kd,
  ki,
  ko 
)

Controller Specification:

setup: Kp, Kd, Ki, Ko (all unsigned char)

write: left_speed, right_speed (2-byte signed, ticks per frame)

status: left_enc, right_enc (4-byte signed)

Definition at line 240 of file diff_controller.py.

Stop the controller, do any hardware shutdown needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 202 of file diff_controller.py.

Start the controller, do any hardware setup needed.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 99 of file diff_controller.py.

read 32-bit (signed) encoder values. 

Definition at line 250 of file diff_controller.py.

Do any read/writes to device.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 103 of file diff_controller.py.

def arbotix_python.diff_controller.DiffController.write (   self,
  left,
  right 
)
Send a closed-loop speed. Base PID loop runs at 30Hz, these values
are therefore in ticks per 1/30 second. 

Definition at line 243 of file diff_controller.py.


Member Data Documentation

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Reimplemented from arbotix_python.controllers.Controller.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.

Definition at line 47 of file diff_controller.py.


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


arbotix_python
Author(s): Michael Ferguson
autogenerated on Sun Oct 5 2014 22:16:05