Public Member Functions | Public Attributes
arbotix_python.joints.Joint Class Reference

Joints hold current values. More...

Inheritance diagram for arbotix_python.joints.Joint:
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List of all members.

Public Member Functions

def __init__
 Constructs a Joint instance.
def getDiagnostics
 Get a diagnostics message for this joint.
def interpolate
 Get new output, in raw data format.
def setControlOutput
 Set the goal position.
def setCurrentFeedback
 Set the current position from feedback data.

Public Attributes

 controller
 device
 last
 name
 position
 velocity

Detailed Description

Joints hold current values.

Definition at line 32 of file joints.py.


Constructor & Destructor Documentation

def arbotix_python.joints.Joint.__init__ (   self,
  device,
  name 
)

Constructs a Joint instance.

Parameters:
deviceThe arbotix instance.
nameThe joint name.

Reimplemented in arbotix_python.linear_controller.LinearJoint.

Definition at line 39 of file joints.py.


Member Function Documentation

Get a diagnostics message for this joint.

Returns:
Diagnostics message.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 75 of file joints.py.

def arbotix_python.joints.Joint.interpolate (   self,
  frame 
)

Get new output, in raw data format.

Parameters:
frameThe frame length in seconds to interpolate forward.
Returns:
The new output, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 53 of file joints.py.

def arbotix_python.joints.Joint.setControlOutput (   self,
  position 
)

Set the goal position.

Parameters:
positionThe goal position, in radians/meters.
Returns:
The output position, in raw data format.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 69 of file joints.py.

def arbotix_python.joints.Joint.setCurrentFeedback (   self,
  raw_data 
)

Set the current position from feedback data.

Parameters:
raw_dataThe current feedback.
Returns:
The current position, in radians/meters.

Reimplemented in arbotix_python.servo_controller.HobbyServo, arbotix_python.servo_controller.DynamixelServo, and arbotix_python.linear_controller.LinearJoint.

Definition at line 61 of file joints.py.


Member Data Documentation

Definition at line 39 of file joints.py.

Definition at line 39 of file joints.py.

Definition at line 39 of file joints.py.


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


arbotix_python
Author(s): Michael Ferguson
autogenerated on Sun Mar 6 2016 11:22:49