00001 from math import radians
00002
00003 port = '/dev/ttyUSB1'
00004
00005 servo_param = {
00006 1: {'name': 'head_pan_joint',
00007 'home_encoder': 512,
00008 'max_speed': radians(180),
00009 'max_ang': radians(145.),
00010 'min_ang': radians(-145.)
00011 },
00012 2: {'name': 'head_tilt_joint',
00013 'home_encoder': 512,
00014 'max_speed': radians(180),
00015 'max_ang': radians(145.),
00016 'min_ang': radians(-145.)
00017
00018 },
00019 3: {'name': 'right_shoulder_pan_joint',
00020 'home_encoder': 512,
00021 'max_speed': radians(180),
00022 'max_ang': radians(360.),
00023 'min_ang': radians(-360.)
00024 },
00025 4: {'name': 'right_shoulder_lift_joint',
00026 'home_encoder': 512,
00027 'max_speed': radians(180),
00028 'max_ang': radians(360.),
00029 'min_ang': radians(-360.)
00030 },
00031 5: {'name': 'right_arm_roll_joint',
00032 'home_encoder': 512,
00033 'max_speed': radians(180),
00034 'max_ang': radians(360.),
00035 'min_ang': radians(-360.)
00036 },
00037 6: {'name': 'right_wrist_joint',
00038 'home_encoder': 512,
00039 'max_speed': radians(180),
00040 'max_ang': radians(360.),
00041 'min_ang': radians(-360.),
00042 'flipped': True
00043 },
00044 7: {'name': 'left_shoulder_pan_joint',
00045 'home_encoder': 512,
00046 'max_speed': radians(180),
00047 'max_ang': radians(360.),
00048 'min_ang': radians(-360.)
00049 },
00050 8: {'name': 'left_shoulder_lift_joint',
00051 'home_encoder': 512,
00052 'max_speed': radians(180),
00053 'max_ang': radians(360.),
00054 'min_ang': radians(-360.)
00055 },
00056 9: {'name': 'left_arm_roll_joint',
00057 'home_encoder': 512,
00058 'max_speed': radians(180),
00059 'max_ang': radians(360.),
00060 'min_ang': radians(-360.)
00061 },
00062 10: {'name': 'left_wrist_joint',
00063 'home_encoder': 512,
00064 'max_speed': radians(180),
00065 'max_ang': radians(360.),
00066 'min_ang': radians(-360.),
00067 'flipped': True
00068 },
00069 11: {'name': 'torso_joint',
00070 'home_encoder': 512,
00071 'max_speed': radians(180),
00072 'max_ang': radians(360.),
00073 'min_ang': radians(-360.)
00074 },
00075 12: {'name': 'left_elbow_joint',
00076 'home_encoder': 512,
00077 'max_speed': radians(180),
00078 'max_ang': radians(360.),
00079 'min_ang': radians(-360.)
00080 },
00081 13: {'name': 'right_elbow_joint',
00082 'home_encoder': 512,
00083 'max_speed': radians(180),
00084 'max_ang': radians(360.),
00085 'min_ang': radians(-360.)
00086 }
00087 }
00088
