Class MX64Module

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DESCRIPTION: -- MX64 Specific constants RESPONSIBILITIES: -- ...

Instance Methods

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__init__(self, node_id, typecode, pna)
Concrete constructor.

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reset_xpos(self)
Reset rotation count for the extended position read by get_xpos()

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get_xpos(self)
Get extended position

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Inherited from DynamixelModule: get_mode, get_moving_speed, get_pos, get_pos_async, get_speed, get_voltage, go_slack, mem_getterOf, mem_read, mem_setterOf, mem_write, set, set_mode, set_pos, set_pos_sync, set_speed, set_torque, set_torque_limit, start, stop

Inherited from ckmodule.AbstractServoModule: is_slack, set_pos_UNSAFE

Inherited from ckmodule.Module: get_od, iterattr, iterhwaddr, iterprop, reset

Inherited from ckmodule.Module (private): _getAttrProperty, _getModAttrOfClp

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

Class Methods

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Inherited from DynamixelModule: ang2dynamixel, dynamixel2ang, dynamixel2rpm, dynamixel2voltage, rpm2dynamixel, torque2dynamixel

Inherited from ckmodule.Module: newFromDiscovery

Class Variables

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MAX_POS = 0xFFF

MIN_POS = 0

MIN_ANG = 0

MAX_ANG = 36000

MAX_TORQUE = 0x3FF

DIRECTION_BIT = 1 << 10

TORQUE_SCL = float(MAX_TORQUE/ 1.0)

SPEED_SCL = 0.114

VOLTAGE_SCL = 0.1

SCL = float(MAX_POS-MIN_POS)/(MAX_ANG-MIN_ANG)

OFS = MAX_POS-MIN_POS/ 2+ MIN_POS

Inherited from DynamixelModule: MN_POS, MX_POS

Inherited from ckmodule.AbstractServoModule: POS_LOWER, POS_UPPER

Inherited from ckmodule.Module: Types

Properties

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Inherited from object: __class__

Method Details

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init(self, node_id, typecode, pna)
(Constructor)

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Concrete constructor.

ATTRIBUTES: node_id -- int -- address for a unique module typecode -- version name of module pna -- ProtocolNodeAdaptor -- specialized for this node_id

Overrides: object.__init__

get_xpos(self)

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Get extended position

Returns position as floating point in units of rotation. This can count an indefinite number of rotations, and may be used in Motor mode to get position

Class MX64Module

__init__(self, node_id, typecode, pna) (Constructor)

get_xpos(self)

init(self, node_id, typecode, pna)
(Constructor)