def set_mode_caster_off(self,caster_idx):
"""
Turns off controller for specified caster and places omnibase in 'caster_mode'.
:param caster_idx: Index of caster.
:type caster_idx: array_like, shape < ncasters, optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_torque`
:meth:`M3OmniBase.set_mode_caster`
"""
self.command.ctrl_mode=mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self,self.command.caster_mode,mob.OMNIBASE_CASTER_OFF,caster_idx)
def set_mode_caster_torque(self,caster_idx):
"""
Allows specified caster to be controlled with torque commands and places omnibase in 'caster_mode'.
:param caster_idx: Index of caster.
:type caster_idx: array_like, shape < ncasters, optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_off`
:meth:`M3OmniBase.set_mode_caster`
"""
self.command.ctrl_mode=mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self,self.command.caster_mode,mob.OMNIBASE_CASTER_TORQUE,caster_idx)
def set_mode_caster_off(self, caster_idx):
"""
Turns off controller for specified caster and places omnibase in 'caster_mode'.
:param caster_idx: Index of caster.
:type caster_idx: array_like, shape < ncasters, optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_torque`
:meth:`M3OmniBase.set_mode_caster`
"""
self.command.ctrl_mode = mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self, self.command.caster_mode,
mob.OMNIBASE_CASTER_OFF, caster_idx)
def set_mode_caster_torque(self, caster_idx):
"""
Allows specified caster to be controlled with torque commands and places omnibase in 'caster_mode'.
:param caster_idx: Index of caster.
:type caster_idx: array_like, shape < ncasters, optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_off`
:meth:`M3OmniBase.set_mode_caster`
"""
self.command.ctrl_mode = mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self, self.command.caster_mode,
mob.OMNIBASE_CASTER_TORQUE, caster_idx)
def set_mode_torque_gc(self, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode,
mam.JOINT_ARRAY_MODE_TORQUE_GC, ind)
def set_mode_pwm(self, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode,
mam.JOINT_ARRAY_MODE_PWM, ind)
def set_mode(self, v, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode, v, ind)
def set_mode_caster_theta(self, caster_idx):
self.command.ctrl_mode=mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self,self.command.caster_mode,mob.OMNIBASE_CASTER_THETA,caster_idx)
def set_mode_caster_theta(self, caster_idx):
self.command.ctrl_mode = mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self, self.command.caster_mode,
mob.OMNIBASE_CASTER_THETA, caster_idx)
def set_mode_splined_traj_gc(self, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode,
mam.JOINT_ARRAY_MODE_SPLINED_TRAJ_GC, ind)
def set_mode_torque_gc(self,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,mam.JOINT_ARRAY_MODE_TORQUE_GC,ind)
def set_mode_pwm(self,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,mam.JOINT_ARRAY_MODE_PWM,ind)
def set_mode(self,v,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,v,ind)
def set_pwm(self,v,ind=None):
M3Component.set_int_array(self,self.command.pwm_desired,v,ind)
def set_mode_caster(self,mode,caster_idx=None):
M3Component.set_int_array(self,self.command.caster_mode,mode, caster_idx)
def set_mode_thetadot_gc(self, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode,
mam.JOINT_ARRAY_MODE_THETADOT_GC, ind)
def set_mode_theta_gc_mj(self, ind=None):
M3Component.set_int_array(self, self.command.ctrl_mode,
mam.JOINT_ARRAY_MODE_THETA_GC_MJ, ind)
def set_mode_thetadot_gc(self,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,mam.JOINT_ARRAY_MODE_THETADOT_GC,ind)
def set_mode_caster_velocity(self, caster_idx):
self.command.ctrl_mode = mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self, self.command.caster_mode,
mob.OMNIBASE_CASTER_VELOCITY, caster_idx)
def set_mode_theta_gc_mj(self,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,mam.JOINT_ARRAY_MODE_THETA_GC_MJ,ind)
def set_mode_splined_traj_gc(self,ind=None):
M3Component.set_int_array(self,self.command.ctrl_mode,mam.JOINT_ARRAY_MODE_SPLINED_TRAJ_GC,ind)
def set_pwm(self, v, ind=None):
M3Component.set_int_array(self, self.command.pwm_desired, v, ind)
def set_mode_caster(self, mode, caster_idx=None):
M3Component.set_int_array(self, self.command.caster_mode, mode,
caster_idx)
def set_mode_caster_velocity(self, caster_idx):
self.command.ctrl_mode=mob.OMNIBASE_CTRL_CASTER
M3Component.set_int_array(self,self.command.caster_mode,mob.OMNIBASE_CASTER_VELOCITY,caster_idx)
