Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | Static Private Attributes
nextage_ros_bridge.base_hands.BaseHands Class Reference
Inheritance diagram for nextage_ros_bridge.base_hands.BaseHands:
Inheritance graph
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List of all members.

Public Member Functions

def __init__
def init_dio

Static Public Attributes

string HAND_L = '1'
string HAND_R = '2'

Private Member Functions

def _dio_writer

Private Attributes

 _parent

Static Private Attributes

int _DIO_ASSIGN_OFF = 0
int _DIO_ASSIGN_ON = 1
int _DIO_MASK = 0

Detailed Description

This class provides methods that are generic for the hands of
Kawada Industries' dual-arm robot called Nextage Open.

DIO pin numbers are set in
nextage_ros_bridge.abs_hand_command.AbsractHandCommand

Definition at line 40 of file base_hands.py.


Constructor & Destructor Documentation

Since this class operates requires an access to
hrpsys.hrpsys_config.HrpsysConfigurator, valid 'parent' is a must.
Otherwise __init__ returns without doing anything.

@type parent: hrpsys.hrpsys_config.HrpsysConfigurator
@param parent: derived class of HrpsysConfigurator.

Reimplemented in nextage_ros_bridge.iros13_hands.Iros13Hands, and nextage_ros_bridge.base_toolchanger_hands.BaseToolchangerHands.

Definition at line 61 of file base_hands.py.


Member Function Documentation

def nextage_ros_bridge.base_hands.BaseHands._dio_writer (   self,
  digitalout_indices,
  dio_assignments,
  padding = _DIO_ASSIGN_OFF 
) [private]
This private method calls HrpsysConfigurator.writeDigitalOutputWithMask,
which this class expects to be available via self._parent.

According to the current (Oct 2013) hardware spec, numbering rule
differs regarding 0 (numeric figure) in dout and mask as follows:

   * 0 is "OFF" in the digital output.
     * 2/1/2014 Assignment modified 0:ON --> 0:OFF
   * 0 is "masked" and not used in mask. Since using '0' is defined in
     hrpsys and not in the robots side, we'll always use '0' for
     masking.

@type digitalout_indices: int[]
@param digitalout_indices: Array of indices of digital output that NEED to be
            flagged as 1.
            eg. If you're targetting on 25 and 26th places in
                the DIO array but only 25th is 1, then the
                array becomes [24].
@type dio_assignments: int[]
@param dio_assignments: range(32). Also called as "masking bits" or
                just "mask". This number corresponds to the
               assigned digital pin of the robot.

               eg. If the target pins are 25 and 26,
                   dio_assignments = [24, 25]
@param padding: Either 0 or 1. DIO bit array will be populated with
        this value.
        Usually this method assumes to be called when turning
        something "on". Therefore by default this value is ON.

Definition at line 74 of file base_hands.py.

Initialize dio. All channels will be set '0' (off), EXCEPT for
tool changers (channel 19 and 24) so that attached tools won't fall.

Definition at line 158 of file base_hands.py.


Member Data Documentation

Definition at line 56 of file base_hands.py.

Definition at line 55 of file base_hands.py.

Definition at line 57 of file base_hands.py.


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


nextage_ros_bridge
Author(s): Isaac Isao Saito
autogenerated on Mon Oct 6 2014 07:22:37