Package joy :: Module mxr :: Class ServoWrapperMX

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Class ServoWrapperMX

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Instance Methods

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__init__(self, servo, logger=None, **kw)
x.__init__(...) initializes x; see help(type(x)) for signature

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_ang2srv(self, ang)
Convert cycle angle (range 0..1) to servo position

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_srv2ang(self, srv)
Convert cycle angle (range 0..1) to servo position

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doCtrl(self)
execute an interaction of the controller update loop

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_set_servo(self)
(private) set module in servo mode

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_set_motor(self)
(private) set module in motor mode

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set_ang(self, ang)

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get_ang(self)

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get_v(self)
Get a velocity estimate

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_clearV(self)
Clear state of velocity estimator

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_updateV(self, ang)
Push angle measurement into velocity estimator

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_set_rpm(self, rpm)
Push an RPM setting to the motor

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

Properties

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Inherited from object: __class__

Method Details

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init(self, servo, logger=None, **kw)
(Constructor)

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x.__init__(...) initializes x; see help(type(x)) for signature

Overrides: object.__init__: (inherited documentation)

_ang2srv(self, ang)

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Convert cycle angle (range 0..1) to servo position

Angle 0 is mapped to .posOfs, growing in direction .ori

_srv2ang(self, srv)

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Convert cycle angle (range 0..1) to servo position

Angle 0 is mapped to .posOfs, growing in direction .ori

_set_servo(self)

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(private) set module in servo mode

also configures the _ensure_* callbacks so that _ensure_* only sends command to motor once

_set_motor(self)

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(private) set module in motor mode

also configures the _ensure_* callbacks so that _ensure_* only sends command to motor once

Class ServoWrapperMX

__init__(self, servo, logger=None, **kw) (Constructor)

_ang2srv(self, ang)

_srv2ang(self, srv)

_set_servo(self)

_set_motor(self)

init(self, servo, logger=None, **kw)
(Constructor)