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... | |
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
◆ __init__()
| def arbotix_python.servo_controller.DynamixelServo.__init__ | ( | self, | |
| device, | |||
| name, | |||
ns = "~joints" |
|||
| ) |
Definition at line 43 of file servo_controller.py.
Member Function Documentation
◆ angleToTicks()
| 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.
◆ commandCb()
| def arbotix_python.servo_controller.DynamixelServo.commandCb | ( | self, | |
| req | |||
| ) |
Float64 style command input.
Definition at line 233 of file servo_controller.py.
◆ enableCb()
| 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.
◆ getDiagnostics()
| def arbotix_python.servo_controller.DynamixelServo.getDiagnostics | ( | self | ) |
Get a diagnostics status.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 154 of file servo_controller.py.
◆ interpolate()
| def arbotix_python.servo_controller.DynamixelServo.interpolate | ( | self, | |
| frame | |||
| ) |
Get the new position to move to, in ticks.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 91 of file servo_controller.py.
◆ relaxCb()
| 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.
◆ setControlOutput()
| def arbotix_python.servo_controller.DynamixelServo.setControlOutput | ( | self, | |
| position | |||
| ) |
Set the position that controller is moving to.
Returns output value in ticks.
Reimplemented from arbotix_python.joints.Joint.
Definition at line 143 of file servo_controller.py.
◆ setCurrentFeedback()
| 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).
Reimplemented from arbotix_python.joints.Joint.
Definition at line 123 of file servo_controller.py.
◆ setSpeedCb()
| 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.
◆ speedToTicks()
| 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.
◆ ticksToAngle()
| 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
◆ active
| arbotix_python.servo_controller.DynamixelServo.active |
Definition at line 74 of file servo_controller.py.
◆ desired
| arbotix_python.servo_controller.DynamixelServo.desired |
Definition at line 70 of file servo_controller.py.
◆ dirty
| arbotix_python.servo_controller.DynamixelServo.dirty |
Definition at line 68 of file servo_controller.py.
◆ enabled
| arbotix_python.servo_controller.DynamixelServo.enabled |
Definition at line 73 of file servo_controller.py.
◆ errors
| arbotix_python.servo_controller.DynamixelServo.errors |
Definition at line 78 of file servo_controller.py.
◆ id
| arbotix_python.servo_controller.DynamixelServo.id |
Definition at line 47 of file servo_controller.py.
◆ invert
| arbotix_python.servo_controller.DynamixelServo.invert |
Definition at line 62 of file servo_controller.py.
◆ last
| arbotix_python.servo_controller.DynamixelServo.last |
Definition at line 75 of file servo_controller.py.
◆ last_cmd
| arbotix_python.servo_controller.DynamixelServo.last_cmd |
Definition at line 71 of file servo_controller.py.
◆ level
| arbotix_python.servo_controller.DynamixelServo.level |
Definition at line 66 of file servo_controller.py.
◆ max_angle
| arbotix_python.servo_controller.DynamixelServo.max_angle |
Definition at line 58 of file servo_controller.py.
◆ max_speed
| arbotix_python.servo_controller.DynamixelServo.max_speed |
Definition at line 60 of file servo_controller.py.
◆ min_angle
| arbotix_python.servo_controller.DynamixelServo.min_angle |
Definition at line 59 of file servo_controller.py.
◆ neutral
| arbotix_python.servo_controller.DynamixelServo.neutral |
Definition at line 49 of file servo_controller.py.
◆ position
| arbotix_python.servo_controller.DynamixelServo.position |
Definition at line 69 of file servo_controller.py.
◆ rad_per_tick
| arbotix_python.servo_controller.DynamixelServo.rad_per_tick |
Definition at line 55 of file servo_controller.py.
◆ range
| arbotix_python.servo_controller.DynamixelServo.range |
Definition at line 51 of file servo_controller.py.
◆ readable
| arbotix_python.servo_controller.DynamixelServo.readable |
Definition at line 63 of file servo_controller.py.
◆ reads
| arbotix_python.servo_controller.DynamixelServo.reads |
Definition at line 77 of file servo_controller.py.
◆ speed
| arbotix_python.servo_controller.DynamixelServo.speed |
Definition at line 103 of file servo_controller.py.
◆ status
| arbotix_python.servo_controller.DynamixelServo.status |
Definition at line 65 of file servo_controller.py.
◆ temperature
| arbotix_python.servo_controller.DynamixelServo.temperature |
Definition at line 83 of file servo_controller.py.
◆ ticks
| arbotix_python.servo_controller.DynamixelServo.ticks |
Definition at line 48 of file servo_controller.py.
◆ total_errors
| arbotix_python.servo_controller.DynamixelServo.total_errors |
Definition at line 80 of file servo_controller.py.
◆ total_reads
| arbotix_python.servo_controller.DynamixelServo.total_reads |
Definition at line 79 of file servo_controller.py.
◆ velocity
| arbotix_python.servo_controller.DynamixelServo.velocity |
Definition at line 72 of file servo_controller.py.
◆ voltage
| 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: