Public Member Functions | Public Attributes | List of all members
arbotix_python.servo_controller.HobbyServo Class Reference
Inheritance diagram for arbotix_python.servo_controller.HobbyServo:
Inheritance graph
[legend]

Public Member Functions

def __init__ (self, device, name, ns="~joints")
 
def angleToTicks (self, angle)
 
def commandCb (self, req)
 
def getDiagnostics (self)
 
def interpolate (self, frame)
 
def setControlOutput (self, position)
 
def setCurrentFeedback (self, raw_data)
 
def ticksToAngle (self, ticks)
 
- Public Member Functions inherited from arbotix_python.joints.Joint
def __init__ (self, device, name)
 Constructs a Joint instance. More...
 
def getDiagnostics (self)
 Get a diagnostics message for this joint. More...
 
def interpolate (self, frame)
 Get new output, in raw data format. More...
 
def setControlOutput (self, position)
 Set the goal position. More...
 
def setCurrentFeedback (self, raw_data)
 Set the current position from feedback data. More...
 

Public Attributes

 desired
 
 dirty
 
 id
 
 invert
 
 last
 
 last_cmd
 
 max_angle
 
 max_speed
 
 min_angle
 
 neutral
 
 position
 
 rad_per_tick
 
 range
 
 speed
 
 ticks
 
 velocity
 
- Public Attributes inherited from arbotix_python.joints.Joint
 controller
 
 device
 
 last
 
 name
 
 position
 
 velocity
 

Detailed Description

Definition at line 252 of file servo_controller.py.

Constructor & Destructor Documentation

◆ __init__()

def arbotix_python.servo_controller.HobbyServo.__init__ (   self,
  device,
  name,
  ns = "~joints" 
)

Definition at line 254 of file servo_controller.py.

Member Function Documentation

◆ angleToTicks()

def arbotix_python.servo_controller.HobbyServo.angleToTicks (   self,
  angle 
)
Convert an angle to ticks, applying limits. 

Definition at line 326 of file servo_controller.py.

◆ commandCb()

def arbotix_python.servo_controller.HobbyServo.commandCb (   self,
  req 
)
Float64 style command input. 

Definition at line 344 of file servo_controller.py.

◆ getDiagnostics()

def arbotix_python.servo_controller.HobbyServo.getDiagnostics (   self)
Get a diagnostics status. 

Definition at line 317 of file servo_controller.py.

◆ interpolate()

def arbotix_python.servo_controller.HobbyServo.interpolate (   self,
  frame 
)
Get the new position to move to, in ticks. 

Definition at line 281 of file servo_controller.py.

◆ setControlOutput()

def arbotix_python.servo_controller.HobbyServo.setControlOutput (   self,
  position 
)
Set the position that controller is moving to. 
    Returns output value in ticks. 

Definition at line 309 of file servo_controller.py.

◆ setCurrentFeedback()

def arbotix_python.servo_controller.HobbyServo.setCurrentFeedback (   self,
  raw_data 
)
Update angle in radians by reading from servo, or by 
    using position passed in from a sync read (in ticks). 

Definition at line 304 of file servo_controller.py.

◆ ticksToAngle()

def arbotix_python.servo_controller.HobbyServo.ticksToAngle (   self,
  ticks 
)
Convert an ticks to angle, applying limits. 

Definition at line 337 of file servo_controller.py.

Member Data Documentation

◆ desired

arbotix_python.servo_controller.HobbyServo.desired

Definition at line 273 of file servo_controller.py.

◆ dirty

arbotix_python.servo_controller.HobbyServo.dirty

Definition at line 271 of file servo_controller.py.

◆ id

arbotix_python.servo_controller.HobbyServo.id

Definition at line 258 of file servo_controller.py.

◆ invert

arbotix_python.servo_controller.HobbyServo.invert

Definition at line 269 of file servo_controller.py.

◆ last

arbotix_python.servo_controller.HobbyServo.last

Definition at line 276 of file servo_controller.py.

◆ last_cmd

arbotix_python.servo_controller.HobbyServo.last_cmd

Definition at line 274 of file servo_controller.py.

◆ max_angle

arbotix_python.servo_controller.HobbyServo.max_angle

Definition at line 265 of file servo_controller.py.

◆ max_speed

arbotix_python.servo_controller.HobbyServo.max_speed

Definition at line 267 of file servo_controller.py.

◆ min_angle

arbotix_python.servo_controller.HobbyServo.min_angle

Definition at line 266 of file servo_controller.py.

◆ neutral

arbotix_python.servo_controller.HobbyServo.neutral

Definition at line 260 of file servo_controller.py.

◆ position

arbotix_python.servo_controller.HobbyServo.position

Definition at line 272 of file servo_controller.py.

◆ rad_per_tick

arbotix_python.servo_controller.HobbyServo.rad_per_tick

Definition at line 262 of file servo_controller.py.

◆ range

arbotix_python.servo_controller.HobbyServo.range

Definition at line 261 of file servo_controller.py.

◆ speed

arbotix_python.servo_controller.HobbyServo.speed

Definition at line 293 of file servo_controller.py.

◆ ticks

arbotix_python.servo_controller.HobbyServo.ticks

Definition at line 259 of file servo_controller.py.

◆ velocity

arbotix_python.servo_controller.HobbyServo.velocity

Definition at line 275 of file servo_controller.py.


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


arbotix_python
Author(s): Michael Ferguson
autogenerated on Mon Feb 28 2022 21:37:42