arbotix_python.servo_controller.HobbyServo Class Reference

Inheritance diagram for arbotix_python.servo_controller.HobbyServo:

List of all members.

Public Member Functions
def	__init__
def	angleToTicks
def	commandCb
def	getDiagnostics
def	interpolate
def	setControlOutput
def	setCurrentFeedback
def	ticksToAngle
Public Attributes
	desired
	dirty
	id
	invert
	last
	last_cmd
	max_angle
	max_speed
	min_angle
	neutral
	position
	rad_per_tick
	range
	speed
	ticks
	velocity

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Detailed Description

Definition at line 252 of file servo_controller.py.

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Constructor & Destructor Documentation

def arbotix_python.servo_controller.HobbyServo.__init__	(		self,
			device,
			name,
			ns = "~joints"
	)

Definition at line 254 of file servo_controller.py.

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Member Function Documentation

def arbotix_python.servo_controller.HobbyServo.angleToTicks	(		self,
			angle
	)

Convert an angle to ticks, applying limits. 

Definition at line 326 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.commandCb	(		self,
			req
	)

Float64 style command input. 

Definition at line 344 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.getDiagnostics

(

self

)

Get a diagnostics status. 

Reimplemented from arbotix_python.joints.Joint.

Definition at line 317 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.interpolate	(		self,
			frame
	)

Get the new position to move to, in ticks. 

Reimplemented from arbotix_python.joints.Joint.

Definition at line 281 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.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 309 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.setCurrentFeedback	(		self,
			raw_data
	)

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 304 of file servo_controller.py.

def arbotix_python.servo_controller.HobbyServo.ticksToAngle	(		self,
			ticks
	)

Convert an ticks to angle, applying limits. 

Definition at line 337 of file servo_controller.py.

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Member Data Documentation

arbotix_python::servo_controller.HobbyServo::desired

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::dirty

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::id

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::invert

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::last

Reimplemented from arbotix_python.joints.Joint.

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::last_cmd

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::max_angle

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::max_speed

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::min_angle

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::neutral

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::position

Reimplemented from arbotix_python.joints.Joint.

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::rad_per_tick

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::range

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::speed

Definition at line 281 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::ticks

Definition at line 254 of file servo_controller.py.

arbotix_python::servo_controller.HobbyServo::velocity

Reimplemented from arbotix_python.joints.Joint.

Definition at line 254 of file servo_controller.py.

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

• servo_controller.py