reachy.io.luos

Wrapper module on top of pyluos Robot object.

Module Contents

Classes

SharedLuosIO

Abstraction class for pyluos Robot object. Create a new connection with a Luos gate.

OrbitaDisk

Orbita Disk Wrapper around luos controlled motor module.

Fan

Fan module for motor cooling.

Functions

attempt_luos_connection(port, trials=5)

Try to connect to a Luos Gate.

reachy.io.luos.logger
reachy.io.luos.attempt_luos_connection(port, trials=5)

Try to connect to a Luos Gate.

class reachy.io.luos.SharedLuosIO(luos_port)

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.

opened_io
__repr__(self)

Shared IO representation.

classmethod with_gate(cls, name, port_template)

Open a connection on the specified Luos gate.

Parameters
  • name (str) – name (or alias) of the searched Luos gate.

  • port_template (str) – template name for the possible serial ports (e.g. ‘/dev/ttyUSB*’)

classmethod close_all_cached_gates(cls)

Close all connections to the Luos gate.

property gate_name(self)

Retrieve the name of the Luos gate.

close(self)

Close the IO.

Warning

You are responsible for handling correctly closing if you are using multiple connections on the same IO.

find_module(self, module_name)

Retrieve a specified Luos module on the IO given its name.

Parameters

module_name (str) – name (or alias) of the researched module

find_dxl(self, dxl_name, dxl_config)

Retrieve a specified Dynamixel motor on the IO given its id.

Parameters

dxl_config (dict) – configuration of the searched dynamixel (including its id)

find_fan(self, fan_name)

Get a specific fan from its name.

find_orbita_disks(self)

Retrieve the three Luos modules controlling each Orbita disk.

find_camera(self, camera_index)

Retrieve a camera.

class reachy.io.luos.OrbitaDisk(name, luos_disk)

Bases: object

Orbita Disk Wrapper around luos controlled motor module.

__repr__(self)str

Get the OrbitaDisk string representation.

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.

class reachy.io.luos.Fan(name, mod)

Bases: object

Fan module for motor cooling.

__repr__(self)

Fan representation.

property status(self)

Get the fan mode (‘on’ or ‘off’).

on(self)

Turn the fan on.

off(self)

Turn the fan off.