ckbot :: ckmodule :: AbstractServoModule :: Class AbstractServoModule

Class AbstractServoModule


Abstract superclass of servo modules. These support additional functionality 
associated with position servos:

.set_pos -- sets position of the module. -- units in 100s of degrees between 
  -9000 and 9000. This is a "safe" version, which only accepts legal values
.set_pos_UNSAFE -- sets position of module, without any validity checking
.get_pos -- reads current position (may be at offset from set_pos, even without load)
.go_slack -- makes the servo go limp
.is_slack -- return True if and only if module is slack

Instance Methods

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__init__(self, *argv, **kwarg)
Concrete constructor.

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go_slack(self)
Makes the servo go limp

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set_pos_UNSAFE(self, val)
Sets position of the module, without any validity checking

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set_pos(self, val)
Sets position of the module, with safety checks.

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get_pos(self)
Gets the actual position of the module

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get_pos_async(self)
Asynchronously gets the actual position of the module

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is_slack(self)
Gets the actual position of the module

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Inherited from Module: get_od, iterattr, iterhwaddr, iterprop, reset, start, stop

Inherited from Module (private): _getAttrProperty, _getModAttrOfClp

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Methods

[hide private]

Inherited from Module: newFromDiscovery

Class Variables

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POS_UPPER = 9000

POS_LOWER = -9000

Inherited from Module: Types

Properties

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Inherited from object: __class__

Method Details

[hide private]

init(self, *argv, **kwarg)
(Constructor)

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Concrete constructor. 

ATTRIBUTES:
  node_id -- 7 bit number to address a module uniquely
  typecode -- version number of module code 
  pna -- ProtocolNodeAdaptor -- specialized for this node_id

Overrides: object.__init__: (inherited documentation)

set_pos_UNSAFE(self, val)

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Sets position of the module, without any validity checking

INPUT:
  val -- units in 100s of degrees between -9000 and 9000

set_pos(self, val)

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Sets position of the module, with safety checks.

INPUT:
  val -- units in 100s of degrees between -9000 and 9000

Class AbstractServoModule

__init__(self, *argv, **kwarg) (Constructor)

set_pos_UNSAFE(self, val)

set_pos(self, val)

init(self, *argv, **kwarg)
(Constructor)