controller_manager.DummyDynamixelIO Class Reference

List of all members.

Public Member Functions
def	__init__
def	get_angle_limits
def	get_current
def	get_feedback
def	get_firmware_version
def	get_model_number
def	get_position
def	get_return_delay_time
def	get_speed
def	get_voltage
def	get_voltage_limits
def	ping
def	set_multi_position
def	set_multi_speed
Public Attributes
	goal
	port_name
	position
	readback_echo
	serial_mutex
	speed

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Detailed Description

Provides low level IO with the Dynamixel servos through pyserial. Has the
ability to write instruction packets, request and read register value
packets, send and receive a response to a ping packet, and send a SYNC WRITE
multi-servo instruction packet.

Definition at line 67 of file controller_manager.py.

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Constructor & Destructor Documentation

def controller_manager.DummyDynamixelIO.__init__	(		self,
			port,
			baudrate,
			max_motor_id,
			readback_echo = False
	)

Constructor takes serial port and baudrate as arguments. 

Definition at line 74 of file controller_manager.py.

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Member Function Documentation

def controller_manager.DummyDynamixelIO.get_angle_limits	(		self,
			servo_id
	)

Definition at line 94 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_current	(		self,
			servo_id
	)

Definition at line 114 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_feedback	(		self,
			servo_id
	)

Returns the id, goal, position, error, speed, load, voltage, temperature
and moving values from the specified servo.

Definition at line 124 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_firmware_version	(		self,
			servo_id
	)

Definition at line 117 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_model_number	(		self,
			servo_id
	)

Reads the servo's model number (e.g. 12 for AX-12+). 

Definition at line 90 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_position	(		self,
			servo_id
	)

Definition at line 108 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_return_delay_time	(		self,
			servo_id
	)

Reads the servo's return delay time. 

Definition at line 120 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_speed	(		self,
			servo_id
	)

Definition at line 111 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_voltage	(		self,
			servo_id
	)

Definition at line 99 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.get_voltage_limits	(		self,
			servo_id
	)

Definition at line 102 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.ping	(		self,
			servo_id
	)

Definition at line 84 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.set_multi_position	(		self,
			valueTuples
	)

Definition at line 150 of file controller_manager.py.

def controller_manager.DummyDynamixelIO.set_multi_speed	(		self,
			valueTuples
	)

Definition at line 145 of file controller_manager.py.

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Member Data Documentation

controller_manager.DummyDynamixelIO::goal

Definition at line 74 of file controller_manager.py.

controller_manager.DummyDynamixelIO::port_name

Definition at line 74 of file controller_manager.py.

controller_manager.DummyDynamixelIO::position

Definition at line 74 of file controller_manager.py.

controller_manager.DummyDynamixelIO::readback_echo

Definition at line 74 of file controller_manager.py.

controller_manager.DummyDynamixelIO::serial_mutex

Definition at line 74 of file controller_manager.py.

controller_manager.DummyDynamixelIO::speed

Definition at line 74 of file controller_manager.py.

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

• controller_manager.py