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- __builtin__.object
-
- computer
- controller
- guide
- machine
- motor
- motorcontroller
- transmission
class computer(__builtin__.object) |
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computer object has the logic for reading an RML file and storing the list of instructions.
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Methods defined here:
- loadrml(self)
- Loads the RML file specified on the command line in sys.argv[1].
- parserml(self)
- Populates the movetable and feedmodetable member variables by parsing the RML instructions.
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- feedmodetable = 0
- movetable = 0
- rml = 0
- tableindex = 0
- zup = 0
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class controller(__builtin__.object) |
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Controller class.
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Methods defined here:
- movegen(self, moveto)
- simmove(self, outgoing)
- stepgen(self, traverse, rate)
- Note: rate in in/min
IMPORTANT... THIS VERSION OF STEPGEN ONLY WORKS PROPERLY WITH
1 AND 2 AXIS SUMULTANEOUS MOVEMENT
THIS IMPLIES THAT ERROR MAPPING WON'T WORK YET
- xmit(self)
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- movtol = 0.0001
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class guide(__builtin__.object) |
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Provides "move" method. Temporary storage for direction vector.
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Methods defined here:
- move(self, s)
- Multiplies stepsize "s" by direction vector.
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- vector = [0, 0, 0]
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class machine(__builtin__.object) |
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Virtual machine class.
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Methods defined here:
- move(self, commandmove)
- This function defines how the virtual machine moves based on
its configuration and perhaps additional sensor inputs.
The goal is to create a model of the the machine which can be
used in a virtual feedback loop by the controller.
Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- dynamicrangeresolution = 6000
- guides = [<virtualmachine6.guide object at 0x83bcb4c>, <virtualmachine6.guide object at 0x83c7c4c>, <virtualmachine6.guide object at 0x83c764c>]
- i = 2
- maxcountersize = 36000000
- motorcontrollers = [<virtualmachine6.motorcontroller object at 0x83c72cc>, <virtualmachine6.motorcontroller object at 0x83c74cc>, <virtualmachine6.motorcontroller object at 0x83c76ec>]
- numberofaxes = 3
- position = array([ 0., 0., 0.])
- softwarecounternumber = 4.0
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class motor(__builtin__.object) |
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motor
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Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- ratio = 0
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class motorcontroller(__builtin__.object) |
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Used as a structure for storing motorcontroller data. No methods.
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Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- clockspeed = 0
- counterrate = 0
- direction = 0
- duration = 0
- hardwarecounter = 0
- hardwarecountersize = 0
- prescalar = 0
- rate = 0
- softwarecounter = 0
- softwarecountersize = 0
- stepsize = 0
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class transmission(__builtin__.object) |
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transmission
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Data descriptors defined here:
- __dict__
- dictionary for instance variables (if defined)
- __weakref__
- list of weak references to the object (if defined)
Data and other attributes defined here:
- ratio = 0
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