Public Member Functions | |
| def | __init__ |
| def | angleToTicks |
| def | commandCb |
| def | enableCb |
| def | getDiagnostics |
| def | interpolate |
| def | relaxCb |
| def | setControlOutput |
| def | setCurrentFeedback |
| def | setSpeedCb |
| def | speedToTicks |
| def | ticksToAngle |
Public Attributes | |
| active | |
| desired | |
| dirty | |
| enabled | |
| errors | |
| id | |
| invert | |
| last | |
| last_cmd | |
| level | |
| max_angle | |
| max_speed | |
| min_angle | |
| neutral | |
| position | |
| rad_per_tick | |
| range | |
| readable | |
| reads | |
| speed | |
| status | |
| temperature | |
| ticks | |
| total_errors | |
| total_reads | |
| velocity | |
| voltage | |
Detailed Description
Definition at line 41 of file servo_controller.py.
Constructor & Destructor Documentation
| def arbotix_python.servo_controller.DynamixelServo.__init__ | ( | self, | |
| device, | |||
| name, | |||
ns = "~joints" |
|||
| ) |
Definition at line 43 of file servo_controller.py.
Member Function Documentation
| def arbotix_python.servo_controller.DynamixelServo.angleToTicks | ( | self, | |
| angle | |||
| ) |
Convert an angle to ticks, applying limits.
Definition at line 186 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.commandCb | ( | self, | |
| req | |||
| ) |
Float64 style command input.
Definition at line 233 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.enableCb | ( | self, | |
| req | |||
| ) |
Turn on/off servo torque, so that it is pose-able.
Definition at line 213 of file servo_controller.py.
Get a diagnostics status.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 154 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.interpolate | ( | self, | |
| frame | |||
| ) |
Get the new position to move to, in ticks.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 91 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.relaxCb | ( | self, | |
| req | |||
| ) |
Turn off servo torque, so that it is pose-able.
Definition at line 225 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.setControlOutput | ( | self, | |
| position | |||
| ) |
Set the position that controller is moving to.
Returns output value in ticks. Reimplemented from arbotix_python.joints.Joint.
Definition at line 143 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.setCurrentFeedback | ( | self, | |
| reading | |||
| ) |
Update angle in radians by reading from servo, or by
using position passed in from a sync read (in ticks). Reimplemented from arbotix_python.joints.Joint.
Definition at line 123 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.setSpeedCb | ( | self, | |
| req | |||
| ) |
Set servo speed. Requested speed is in radians per second.
Don't allow 0 which means "max speed" to a Dynamixel in joint mode. Definition at line 244 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.speedToTicks | ( | self, | |
| rads_per_sec | |||
| ) |
Convert speed in radians per second to ticks, applying limits.
Definition at line 204 of file servo_controller.py.
| def arbotix_python.servo_controller.DynamixelServo.ticksToAngle | ( | self, | |
| ticks | |||
| ) |
Convert an ticks to angle, applying limits.
Definition at line 197 of file servo_controller.py.
Member Data Documentation
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 91 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 43 of file servo_controller.py.
Definition at line 43 of file servo_controller.py.
The documentation for this class was generated from the following file: