def __init__(self, eds_file):
self.eds_file = eds_file
self.I1 = I100(1, self.eds_file)
self.T2 = T100(2, self.eds_file)
self.T3 = T100(3, self.eds_file)
self.i4 = I85(4, self.eds_file)
self.t5 = T85(5, self.eds_file)
def __start_communication(self):
self.__I1 = I100(1,self.eds_file)
self.__T2 = T100(2,self.eds_file)
self.__T3 = T100(3,self.eds_file)
self.__T4 = T100(4,self.eds_file)
self.__I5 = I100(5,self.eds_file)
self.__I1.start()
self.__T2.start()
self.__T3.start()
self.__T4.start()
self.__I5.start()
# set velocity mode.
self.__I1.opmode_set('PROFILED VELOCITY')
self.__T2.opmode_set('PROFILED VELOCITY')
self.__T3.opmode_set('PROFILED VELOCITY')
self.__T4.opmode_set('PROFILED VELOCITY')
self.__I5.opmode_set('PROFILED VELOCITY')
if self.__climbot5d:
self.__G0 = G100(6,self.eds_file)
self.__G6 = G100(7,self.eds_file)
self.__G0.start()
self.__G6.start()
self.__G0.opmode_set('PROFILED TORQUE')
self.__G6.opmode_set('PROFILED TORQUE')
pass
def __init__(self, eds_file):
"""
init a example of climb robot
:param eds_file: path of the eds file
"""
self.eds_file = eds_file
self.I1 = I100(1, self.eds_file)
self.T2 = T100(2, self.eds_file)
self.T3 = T100(3, self.eds_file)
self.T4 = T100(4, self.eds_file)
self.I5 = I100(5, self.eds_file)
self.G0 = G100(6, self.eds_file)
self.G6 = G100(7, self.eds_file)
print "Climbot5d init is over!"
def __start_communication(self):
self.I1 = I100(1, self.eds_file)
self.T2 = T100(2, self.eds_file)
self.T3 = T100(3, self.eds_file)
self.i4 = I85(4, self.eds_file)
self.t5 = T85(5, self.eds_file)
self.I1.start()
self.T2.start()
self.T3.start()
self.i4.start()
self.t5.start()
# set position mode.
self.set__position_mode()
def __start_communication(self):
self.I1 = I100(1, self.eds_file)
self.T2 = T100(2, self.eds_file)
self.T3 = T100(3, self.eds_file)
self.T4 = T100(4, self.eds_file)
self.I5 = I100(5, self.eds_file)
self.G0 = G100(6, self.eds_file)
self.G6 = G100(7, self.eds_file)
self.G0.start()
self.I1.start()
self.T2.start()
self.T3.start()
self.T4.start()
self.I5.start()
self.G6.start()
# set position mode.
self.set__position_mode()
def __start_communication(self):
self.I1 = I100(1,self.eds_file)
self.T2 = T100(2,self.eds_file)
self.T3 = T100(3,self.eds_file)
self.I4 = I100(4,self.eds_file)
self.T5 = T100(5,self.eds_file)
self.T6 = T100(6,self.eds_file)
self.I7 = I100(7,self.eds_file)
self.I1.start()
self.T2.start()
self.T3.start()
self.I4.start()
self.T5.start()
self.T6.start()
self.I7.start()
# set position mode.
# self.set_velocity_mode()
self.set__position_mode()
def __start_communication():
Biped5d_control.I1 = I100(1, Biped5d_control.eds_file)
Biped5d_control.T2 = T100(2, Biped5d_control.eds_file)
Biped5d_control.T3 = T100(3, Biped5d_control.eds_file)
Biped5d_control.T4 = T100(4, Biped5d_control.eds_file)
Biped5d_control.I5 = I100(5, Biped5d_control.eds_file)
Biped5d_control.I1.start()
Biped5d_control.T2.start()
Biped5d_control.T3.start()
Biped5d_control.T4.start()
Biped5d_control.I5.start()
# set position mode.
Biped5d_control.I1.opmode_set('PROFILED POSITION')
Biped5d_control.T2.opmode_set('PROFILED POSITION')
Biped5d_control.T3.setopmode_set_mode('PROFILED POSITION')
Biped5d_control.T4.opmode_set('PROFILED POSITION')
Biped5d_control.I5.opmode_set('PROFILED POSITION')
rospy.loginfo("start canopen communication")
def __start_communication():
Biped5d_control.I1 = I100(1,Biped5d_control.eds_file)
Biped5d_control.T2 = T100(2,Biped5d_control.eds_file)
Biped5d_control.T3 = T100(3,Biped5d_control.eds_file)
Biped5d_control.T4 = T100(4,Biped5d_control.eds_file)
Biped5d_control.I5 = I100(5,Biped5d_control.eds_file)
Biped5d_control.I1.start()
Biped5d_control.T2.start()
Biped5d_control.T3.start()
Biped5d_control.T4.start()
Biped5d_control.I5.start()
# set position mode.
Biped5d_control.I1.set_mode(1)
Biped5d_control.T2.set_mode(1)
Biped5d_control.T3.set_mode(1)
Biped5d_control.T4.set_mode(1)
Biped5d_control.I5.set_mode(1)
rospy.loginfo("start canopen communication")
def __init__(self, eds_file):
self.eds_file = eds_file
self.I1 = I100(1, self.eds_file)
self.T2 = T100(2, self.eds_file)