def __init__(self, name, servoRange):
self.name = name
self.servoRange = servoRange
self.initPublishers()
self.initVariables()
self.angle = JointAngle(name, 1, -servoRange / 2, servoRange / 2,
False)
def __init__(self, name, servoRange=None):
self.name = name
self.initPublishers()
self.initVariables()
if servoRange:
minRange = -servoRange / 2
maxRange = servoRange / 2
else:
minRange = rospy.get_param("~" + name + "/minAngle")
maxRange = rospy.get_param("~" + name + "/maxAngle")
self.angle = JointAngle(name, 1, minRange, maxRange, False)
def __init__(self, name):
self.name = name
self.calibrated = rospy.get_param("~" + self.name + "/calibrated")
self.signEncoder = rospy.get_param("~" + self.name + "/signEncoder")
self.signJoint = rospy.get_param("~" + self.name + "/signJoint")
self.name = rospy.get_param("~" + self.name + "/name")
self.nameEncoder = rospy.get_param("~" + self.name + "/nameEncoder")
minAngle = rospy.get_param("~" + self.name + "/minAngle")
maxAngle = rospy.get_param("~" + self.name + "/maxAngle")
self.pGain = rospy.get_param("~" + self.name + "/gains/P")
self.iGain = rospy.get_param("~" + self.name + "/gains/I")
self.vGain = rospy.get_param("~" + self.name + "/gains/D")
self.maxAbsForwardError = rospy.get_param("~" + self.name +
"/maxAbsForwardError")
# Attribute stores resting pose angle of antagonist-pair motor joints
# taken from joint yaml file in gummi_base and gummi_ee pkgs.
self.restingPoseAngle = rospy.get_param("~" + self.name +
"/restingPoseAngle")
self.range = maxAngle - minAngle
self.angle = JointAngle(self.nameEncoder, self.signEncoder, minAngle,
maxAngle, True)
self.eqModel = EquilibriumModel(self.name)
self.inverseModel = InverseModel(self.name)
self.inverseModelCollision = InverseModel(self.name)
self.forwardModel = ForwardModel(self.name)
if self.calibrated is 1:
self.inverseModel.loadCalibration()
self.inverseModelCollision.loadCalibration()
self.forwardModel.loadCalibration()
self.cocontractionReflex = Reflex(2.0, 0.0045, 0.0)
self.feedbackReflex = Reflex(1.0, 0.0075, 0.0)
self.collisionReflex = Reflex(1.0, 0.0075, 0.0)
self.initPublishers()
self.initVariables()
self.disableEncoderTorque()
jointRange = self.angle.getMax() - self.angle.getMin()
self.eqModel.calculateEqVelCalibration(jointRange)
def __init__(self, name):
self.name = name
self.calibrated = rospy.get_param("~" + self.name + "/calibrated")
self.signEncoder = rospy.get_param("~" + self.name + "/signEncoder")
self.signJoint = rospy.get_param("~" + self.name + "/signJoint")
self.name = rospy.get_param("~" + self.name + "/name")
self.nameEncoder = rospy.get_param("~" + self.name + "/nameEncoder")
minAngle = rospy.get_param("~" + self.name + "/minAngle")
maxAngle = rospy.get_param("~" + self.name + "/maxAngle")
self.pGain = rospy.get_param("~" + self.name + "/gains/P")
self.iGain = rospy.get_param("~" + self.name + "/gains/I")
self.vGain = rospy.get_param("~" + self.name + "/gains/D")
self.maxAbsForwardError = rospy.get_param("~" + self.name +
"/maxAbsForwardError")
self.range = maxAngle - minAngle
self.angle = JointAngle(self.nameEncoder, self.signEncoder, minAngle,
maxAngle, True)
self.eqModel = EquilibriumModel(self.name)
self.inverseModel = InverseModel(self.name)
self.inverseModelCollision = InverseModel(self.name)
self.forwardModel = ForwardModel(self.name)
if self.calibrated is 1:
self.inverseModel.loadCalibration()
self.inverseModelCollision.loadCalibration()
self.forwardModel.loadCalibration()
self.cocontractionReflex = Reflex(2.0, 0.0015, 0.0)
self.feedbackReflex = Reflex(1.0, 0.0075, 0.0)
self.collisionReflex = Reflex(1.0, 0.0075, 0.0)
self.initPublishers()
self.initVariables()
self.disableEncoderTorque()
jointRange = self.angle.getMax() - self.angle.getMin()
self.eqModel.calculateEqVelCalibration(jointRange)