Public Member Functions | Public Attributes | List of all members
arbotix_python.servo_controller.DynamixelServo Class Reference
Inheritance diagram for arbotix_python.servo_controller.DynamixelServo:
Inheritance graph
[legend]

Public Member Functions

def __init__ (self, device, name, ns="~joints")
 
def angleToTicks (self, angle)
 
def commandCb (self, req)
 
def enableCb (self, req)
 
def getDiagnostics (self)
 
def interpolate (self, frame)
 
def relaxCb (self, req)
 
def setControlOutput (self, position)
 
def setCurrentFeedback (self, reading)
 
def setSpeedCb (self, req)
 
def speedToTicks (self, rads_per_sec)
 
def ticksToAngle (self, ticks)
 
- Public Member Functions inherited from arbotix_python.joints.Joint
def __init__ (self, device, name)
 Constructs a Joint instance. More...
 
def getDiagnostics (self)
 Get a diagnostics message for this joint. More...
 
def interpolate (self, frame)
 Get new output, in raw data format. More...
 
def setControlOutput (self, position)
 Set the goal position. More...
 
def setCurrentFeedback (self, raw_data)
 Set the current position from feedback data. More...
 

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
 
- Public Attributes inherited from arbotix_python.joints.Joint
 controller
 
 device
 
 last
 
 name
 
 position
 
 velocity
 

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.

def arbotix_python.servo_controller.DynamixelServo.getDiagnostics (   self)
Get a diagnostics status. 

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. 

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. 

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). 

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

arbotix_python.servo_controller.DynamixelServo.active

Definition at line 74 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.desired

Definition at line 70 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.dirty

Definition at line 68 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.enabled

Definition at line 73 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.errors

Definition at line 78 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.id

Definition at line 47 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.invert

Definition at line 62 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.last

Definition at line 75 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.last_cmd

Definition at line 71 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.level

Definition at line 66 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.max_angle

Definition at line 58 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.max_speed

Definition at line 60 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.min_angle

Definition at line 59 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.neutral

Definition at line 49 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.position

Definition at line 69 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.rad_per_tick

Definition at line 55 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.range

Definition at line 51 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.readable

Definition at line 63 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.reads

Definition at line 77 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.speed

Definition at line 103 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.status

Definition at line 65 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.temperature

Definition at line 83 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.ticks

Definition at line 48 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.total_errors

Definition at line 80 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.total_reads

Definition at line 79 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.velocity

Definition at line 72 of file servo_controller.py.

arbotix_python.servo_controller.DynamixelServo.voltage

Definition at line 82 of file servo_controller.py.


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


arbotix_python
Author(s): Michael Ferguson
autogenerated on Mon Jun 10 2019 12:43:36