reachy.io.luos
¶
Wrapper module on top of pyluos Robot object.
Module Contents¶
Classes¶
Abstraction class for pyluos Robot object. Create a new connection with a Luos gate. |
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Orbita Disk Wrapper around luos controlled motor module. |
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Fan module for motor cooling. |
Functions¶
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Try to connect to a Luos Gate. |
Attributes¶
- reachy.io.luos.logger¶
- reachy.io.luos.attempt_luos_connection(port, trials=5)¶
Try to connect to a Luos Gate.
Bases:
reachy.io.io.IO
Abstraction class for pyluos Robot object. Create a new connection with a Luos gate.
- Parameters
luos_port (str) – name of the serial port used (e.g. ‘/dev/ttyUSB0’)
Note
If a connection on the same port already exists, the same IO will be used.
The class is reponsible for holding active connections with Luos gate. A same gate can be shared among multiple IOs.
Shared IO representation.
Open a connection on the specified Luos gate.
Close all connections to the Luos gate.
Retrieve the name of the Luos gate.
Close the IO.
Warning
You are responsible for handling correctly closing if you are using multiple connections on the same IO.
Retrieve a specified Luos module on the IO given its name.
- Parameters
module_name (str) – name (or alias) of the researched module
Retrieve a specified Dynamixel motor on the IO given its id.
- Parameters
dxl_config (dict) – configuration of the searched dynamixel (including its id)
Get a specific fan from its name.
Retrieve the three Luos modules controlling each Orbita disk.
Retrieve a camera.
- class reachy.io.luos.OrbitaDisk(name, luos_disk)¶
Bases:
object
Orbita Disk Wrapper around luos controlled motor module.
- setup(self)¶
Prepare the luos disk before controlling it.
Enable position control, retrieve position and temperature.
- property compliant(self)¶
Get the disk compliancy.
- property rot_position(self)¶
Get the current angle position (in deg.).
- property target_rot_position(self)¶
Get the current target angle position (in deg.).
- property temperature(self)¶
Get the current motor temperature in C.