Public Member Functions | |
| def | __init__ (self, parent) |
| def | airhand_l_drawin (self) |
| def | airhand_l_keep (self) |
| def | airhand_l_release (self) |
| def | airhand_r_drawin (self) |
| def | airhand_r_keep (self) |
| def | airhand_r_release (self) |
| def | gripper_l_close (self) |
| def | gripper_l_open (self) |
| def | gripper_r_close (self) |
| def | gripper_r_open (self) |
| def | handlight_both (self, is_on=True) |
| def | handlight_l (self, is_on=True) |
| def | handlight_r (self, is_on=True) |
| def | handtool_l_attach (self) |
| def | handtool_l_eject (self) |
| def | handtool_r_attach (self) |
| def | handtool_r_eject (self) |
| def | init_dio (self) |
Static Public Attributes | |
| int | DIO_17 = 17 |
| int | DIO_18 = 18 |
| int | DIO_19 = 19 |
| int | DIO_20 = 20 |
| int | DIO_21 = 21 |
| int | DIO_22 = 22 |
| int | DIO_23 = 23 |
| int | DIO_24 = 24 |
| int | DIO_25 = 25 |
| int | DIO_26 = 26 |
| int | DIO_27 = 27 |
| int | DIO_28 = 28 |
| string | HAND_L = '1' |
| string | HAND_R = '2' |
Private Member Functions | |
| def | _dio_writer (self, digitalout_indices, dio_assignments, padding=_DIO_ASSIGN_OFF) |
Private Attributes | |
| _parent | |
Static Private Attributes | |
| int | _DIO_ASSIGN_OFF = 0 |
| int | _DIO_ASSIGN_ON = 1 |
| int | _DIO_MASK = 0 |
| string | _MSG_ERR_NOTIMPLEMENTED = 'The method is not implemented in the derived class' |
Detailed Description
This class provides methods that are generic for the hands of Kawada Industries' dual-arm robot called Nextage Open.
Definition at line 40 of file base_hands.py.
Constructor & Destructor Documentation
| def nextage_ros_bridge.base_hands.BaseHands.__init__ | ( | self, | |
| parent | |||
| ) |
Since this class operates requires an access to hrpsys.hrpsys_config.HrpsysConfigurator, valid 'parent' is a must. Otherwise __init__ returns without doing anything. @type parent: hrpsys.hrpsys_config.HrpsysConfigurator @param parent: derived class of HrpsysConfigurator.
Definition at line 75 of file base_hands.py.
Member Function Documentation
|
private |
This private method calls HrpsysConfigurator.writeDigitalOutputWithMask,
which this class expects to be available via self._parent.
According to the current (Oct 2013) hardware spec, numbering rule
differs regarding 0 (numeric figure) in dout and mask as follows:
* 0 is "OFF" in the digital output.
* 2/1/2014 Assignment modified 0:ON --> 0:OFF
* 0 is "masked" and not used in mask. Since using '0' is defined in
hrpsys and not in the robots side, we'll always use '0' for
masking.
@type digitalout_indices: int[]
@param digitalout_indices: Array of indices of digital output that NEED to be
flagged as 1.
eg. If you're targetting on 25 and 26th places in
the DIO array but only 25th is 1, then the
array becomes [24].
@type dio_assignments: int[]
@param dio_assignments: range(32). Also called as "masking bits" or
just "mask". This number corresponds to the
assigned digital pin of the robot.
eg. If the target pins are 25 and 26,
dio_assignments = [24, 25]
@param padding: Either 0 or 1. DIO bit array will be populated with
this value.
Usually this method assumes to be called when turning
something "on". Therefore by default this value is ON.
@rtype: bool
@return: True if dout was writable to the register. False otherwise.
Definition at line 89 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_l_drawin | ( | self | ) |
Definition at line 200 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_l_keep | ( | self | ) |
Definition at line 206 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_l_release | ( | self | ) |
Definition at line 212 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_r_drawin | ( | self | ) |
Definition at line 203 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_r_keep | ( | self | ) |
Definition at line 209 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.airhand_r_release | ( | self | ) |
Definition at line 215 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.gripper_l_close | ( | self | ) |
Definition at line 218 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.gripper_l_open | ( | self | ) |
Definition at line 224 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.gripper_r_close | ( | self | ) |
Definition at line 221 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.gripper_r_open | ( | self | ) |
Definition at line 227 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handlight_both | ( | self, | |
is_on = True |
|||
| ) |
Definition at line 236 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handlight_l | ( | self, | |
is_on = True |
|||
| ) |
Definition at line 233 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handlight_r | ( | self, | |
is_on = True |
|||
| ) |
Definition at line 230 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handtool_l_attach | ( | self | ) |
Definition at line 245 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handtool_l_eject | ( | self | ) |
Definition at line 239 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handtool_r_attach | ( | self | ) |
Definition at line 248 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.handtool_r_eject | ( | self | ) |
Definition at line 242 of file base_hands.py.
| def nextage_ros_bridge.base_hands.BaseHands.init_dio | ( | self | ) |
Initialize dio. All channels will be set '0' (off), EXCEPT for tool changers (channel 19 and 24) so that attached tools won't fall.
Definition at line 177 of file base_hands.py.
Member Data Documentation
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staticprivate |
Definition at line 53 of file base_hands.py.
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staticprivate |
Definition at line 52 of file base_hands.py.
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staticprivate |
Definition at line 54 of file base_hands.py.
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staticprivate |
Definition at line 73 of file base_hands.py.
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private |
Definition at line 86 of file base_hands.py.
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static |
Definition at line 60 of file base_hands.py.
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static |
Definition at line 61 of file base_hands.py.
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static |
Definition at line 62 of file base_hands.py.
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Definition at line 63 of file base_hands.py.
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Definition at line 64 of file base_hands.py.
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Definition at line 65 of file base_hands.py.
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Definition at line 66 of file base_hands.py.
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Definition at line 67 of file base_hands.py.
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Definition at line 68 of file base_hands.py.
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Definition at line 69 of file base_hands.py.
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Definition at line 70 of file base_hands.py.
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Definition at line 71 of file base_hands.py.
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static |
Definition at line 49 of file base_hands.py.
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static |
Definition at line 50 of file base_hands.py.
The documentation for this class was generated from the following file: