arbotix_python::diff_controller::DiffController Class Reference

List of all members.

Public Member Functions
def	__init__
def	cmdVelCb
def	getDiagnostics
def	setup
def	shutdown
def	startup
def	status
def	update
def	write
Public Attributes
	accel_limit
	base_width
	device
	dr
	dx
	enc_left
	enc_right
	fake
	joint_names
	joint_positions
	joint_velocities
	Kd
	Ki
	Ko
	Kp
	last_cmd
	max_accel
	name
	odomBroadcaster
	odomPub
	rate
	t_delta
	t_next
	th
	then
	ticks_meter
	timeout
	v_des_left
	v_des_right
	v_left
	v_right
	x
	y

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Detailed Description

Controller to handle movement & odometry feedback for a differential 
        drive mobile base. 

Definition at line 43 of file diff_controller.py.

---

Member Function Documentation

def arbotix_python::diff_controller::DiffController::__init__	(		self,
			device,
			name
	)

Definition at line 46 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::cmdVelCb	(		self,
			req
	)

Handle movement requests. 

Definition at line 202 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::getDiagnostics

(

self

)

Get a diagnostics status. 

Definition at line 213 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::setup	(		self,
			kp,
			kd,
			ki,
			ko
	)

Definition at line 236 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::shutdown

(

self

)

Definition at line 198 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::startup

(

self

)

Definition at line 96 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::status

(

self

)

read 32-bit (signed) encoder values. 

Definition at line 246 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::update

(

self

)

Definition at line 100 of file diff_controller.py.

def arbotix_python::diff_controller::DiffController::write	(		self,
			left,
			right
	)

Send a closed-loop speed. Base PID loop runs at 30Hz, these values
are therefore in ticks per 1/30 second. 

Definition at line 239 of file diff_controller.py.

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Member Data Documentation

arbotix_python::diff_controller::DiffController::accel_limit

Definition at line 67 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::base_width

Definition at line 58 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::device

Definition at line 48 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::dr

Definition at line 86 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::dx

Definition at line 85 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::enc_left

Definition at line 80 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::enc_right

Definition at line 81 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::fake

Definition at line 49 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::joint_names

Definition at line 71 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::joint_positions

Definition at line 72 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::joint_velocities

Definition at line 73 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::Kd

Definition at line 62 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::Ki

Definition at line 63 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::Ko

Definition at line 64 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::Kp

Definition at line 61 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::last_cmd

Definition at line 50 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::max_accel

Definition at line 68 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::name

Definition at line 47 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::odomBroadcaster

Definition at line 92 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::odomPub

Definition at line 91 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::rate

Definition at line 53 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::t_delta

Definition at line 55 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::t_next

Definition at line 56 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::th

Definition at line 84 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::then

Definition at line 87 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::ticks_meter

Definition at line 57 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::timeout

Definition at line 54 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::v_des_left

Definition at line 78 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::v_des_right

Definition at line 79 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::v_left

Definition at line 76 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::v_right

Definition at line 77 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::x

Definition at line 82 of file diff_controller.py.

arbotix_python::diff_controller::DiffController::y

Definition at line 83 of file diff_controller.py.

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

• diff_controller.py