dynamixel_ros_commands.py
Go to the documentation of this file.00001 # -*- coding: utf-8 -*- 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2010-2011, Cody Jorgensen, Antons Rebguns. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of University of Arizona nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 00036 __author__ = 'Cody Jorgensen, Antons Rebguns' 00037 __copyright__ = 'Copyright (c) 2010-2011 Cody Jorgensen, Antons Rebguns' 00038 00039 __license__ = 'BSD' 00040 __maintainer__ = 'Antons Rebguns' 00041 __email__ = 'anton@email.arizona.edu' 00042 00043 00044 """ 00045 Dynamixel ROS User Commands 00046 """ 00047 DXL_SET_TORQUE_ENABLE = 1 00048 DXL_SET_CW_COMPLIANCE_MARGIN = 2 00049 DXL_SET_CCW_COMPLIANCE_MARGIN = 3 00050 DXL_SET_COMPLIANCE_MARGINS = 4 00051 DXL_SET_CW_COMPLIANCE_SLOPE = 5 00052 DXL_SET_CCW_COMPLIANCE_SLOPE = 6 00053 DXL_SET_COMPLIANCE_SLOPES = 7 00054 DXL_SET_GOAL_POSITION = 8 00055 DXL_SET_GOAL_SPEED = 9 00056 DXL_SET_TORQUE_LIMIT = 10 00057 DXL_SET_PUNCH = 11 00058