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... | |
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.
Reimplemented from arbotix_python.joints.Joint.
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.
Reimplemented from arbotix_python.joints.Joint.
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.
Reimplemented from arbotix_python.joints.Joint.
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).
Reimplemented from arbotix_python.joints.Joint.
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: