How to use the pypot.dynamixel.motor.DxlRegister function in pypot
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poppy-project / pypot / pypot / dynamixel / motor.py View on Github 
'angle_limit']
id = DxlRegister()
name = DxlRegister()
model = DxlRegister()
present_position = DxlPositionRegister()
goal_position = DxlPositionRegister(rw=True)
present_speed = DxlOrientedRegister()
moving_speed = DxlOrientedRegister(rw=True)
present_load = DxlOrientedRegister()
torque_limit = DxlRegister(rw=True)
lower_limit = DxlPositionRegister()
upper_limit = DxlPositionRegister()
present_voltage = DxlRegister()
present_temperature = DxlRegister()
def __init__(self, id, name=None, model='',
direct=True, offset=0.0,
broken=False,
angle_limit=None):
self.__dict__['id'] = id
name = name if name is not None else 'motor_{}'.format(id)
self.__dict__['name'] = name
self.__dict__['model'] = model
self.__dict__['direct'] = direct
self.__dict__['offset'] = offset
self.__dict__['compliant'] = TrueDxlMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 150
class DxlMXMotor(DxlMotor):
""" This class represents the RX and MX robotis motor.
This class adds access to:
* PID gains (see the robotis website for details)
"""
registers = list(DxlMotor.registers)
pid = DxlRegister(rw=True)
def __init__(self, id, name=None, model='',
direct=True, offset=0.0, broken=False,
angle_limit=None):
""" This class represents the RX and MX robotis motor.
This class adds access to:
* PID gains (see the robotis website for details)
"""
DxlMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 180This class represents a generic robotis motor and you define your own subclass for specific motors (see :class:`~pypot.dynamixel.motor.DxlMXMotor` or :class:`~pypot.dynamixel.motor.DxlAXRXMotor`).
Those properties are synchronized with the real motors values thanks to a :class:`~pypot.dynamixel.controller.DxlController`.
"""
__metaclass__ = RegisterOwner
registers = Motor.registers + ['registers',
'goal_speed',
'compliant', 'safe_compliant',
'angle_limit']
id = DxlRegister()
name = DxlRegister()
model = DxlRegister()
present_position = DxlPositionRegister()
goal_position = DxlPositionRegister(rw=True)
present_speed = DxlOrientedRegister()
moving_speed = DxlOrientedRegister(rw=True)
present_load = DxlOrientedRegister()
torque_limit = DxlRegister(rw=True)
lower_limit = DxlPositionRegister()
upper_limit = DxlPositionRegister()
present_voltage = DxlRegister()
present_temperature = DxlRegister()
def __init__(self, id, name=None, model='',
direct=True, offset=0.0,
broken=False,""" This class represents the RX and MX robotis motor.
This class adds access to:
* PID gains (see the robotis website for details)
"""
DxlMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 180
class DxlXL320Motor(DxlMXMotor):
registers = list(DxlMXMotor.registers)
led = DxlRegister(rw=True)
control_mode = DxlRegister(rw=True)
""" This class represents the XL-320 robotis motor. """
def __init__(self, id, name=None, model='XL-320',
direct=True, offset=0.0, broken=False,
angle_limit=None):
DxlMXMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 150
class DxlSRMotor(DxlMotor):
""" This class represents the robotis motor found in the seed robotics hand.
This class adds access to:id = DxlRegister()
name = DxlRegister()
model = DxlRegister()
present_position = DxlPositionRegister()
goal_position = DxlPositionRegister(rw=True)
present_speed = DxlOrientedRegister()
moving_speed = DxlOrientedRegister(rw=True)
present_load = DxlOrientedRegister()
torque_limit = DxlRegister(rw=True)
lower_limit = DxlPositionRegister()
upper_limit = DxlPositionRegister()
present_voltage = DxlRegister()
present_temperature = DxlRegister()
def __init__(self, id, name=None, model='',
direct=True, offset=0.0,
broken=False,
angle_limit=None):
self.__dict__['id'] = id
name = name if name is not None else 'motor_{}'.format(id)
self.__dict__['name'] = name
self.__dict__['model'] = model
self.__dict__['direct'] = direct
self.__dict__['offset'] = offset
self.__dict__['compliant'] = Truedef __set__(self, instance, value):
value = value if instance.direct else -value
DxlRegister.__set__(self, instance, value)def __new__(cls, name, bases, attrs):
for n, v in attrs.items():
if isinstance(v, DxlRegister):
v.label = n
attrs['registers'].append(n)
return super(RegisterOwner, cls).__new__(cls, name, bases, attrs)* voltage
This class represents a generic robotis motor and you define your own subclass for specific motors (see :class:`~pypot.dynamixel.motor.DxlMXMotor` or :class:`~pypot.dynamixel.motor.DxlAXRXMotor`).
Those properties are synchronized with the real motors values thanks to a :class:`~pypot.dynamixel.controller.DxlController`.
"""
__metaclass__ = RegisterOwner
registers = Motor.registers + ['registers',
'goal_speed',
'compliant', 'safe_compliant',
'angle_limit']
id = DxlRegister()
name = DxlRegister()
model = DxlRegister()
present_position = DxlPositionRegister()
goal_position = DxlPositionRegister(rw=True)
present_speed = DxlOrientedRegister()
moving_speed = DxlOrientedRegister(rw=True)
present_load = DxlOrientedRegister()
torque_limit = DxlRegister(rw=True)
lower_limit = DxlPositionRegister()
upper_limit = DxlPositionRegister()
present_voltage = DxlRegister()
present_temperature = DxlRegister()
def __init__(self, id, name=None, model='',
direct=True, offset=0.0,This class adds access to:
* PID gains (see the robotis website for details)
"""
DxlMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 180
class DxlXL320Motor(DxlMXMotor):
registers = list(DxlMXMotor.registers)
led = DxlRegister(rw=True)
control_mode = DxlRegister(rw=True)
""" This class represents the XL-320 robotis motor. """
def __init__(self, id, name=None, model='XL-320',
direct=True, offset=0.0, broken=False,
angle_limit=None):
DxlMXMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 150
class DxlSRMotor(DxlMotor):
""" This class represents the robotis motor found in the seed robotics hand.
This class adds access to:
* force control enableclass DxlSRMotor(DxlMotor):
""" This class represents the robotis motor found in the seed robotics hand.
This class adds access to:
* force control enable
* goal force
* present current
"""
registers = list(DxlMotor.registers)
force_control_enable = DxlRegister(rw=True)
goal_force = DxlRegister(rw=True)
present_current = DxlRegister()
def __init__(self, id, name=None, model='',
direct=True, offset=0.0, broken=False,
angle_limit=None):
""" This class represents the robotis motor found in the seed robotics hand.
This class adds access to:
* PID gains (see the robotis website for details)
* force control enable
* goal force
"""
DxlMotor.__init__(self, id, name, model,
direct, offset, broken,
angle_limit)
self.max_pos = 180
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