Documentation
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Overview ¶
Package yahboom implements a yahboom based robot. code with commands found at http://www.yahboom.net/study/Dofbot-Pi
Index ¶
- Variables
- func Model(name string) (referenceframe.Model, error)
- func NewDofBot(ctx context.Context, deps registry.Dependencies, config config.Component, ...) (arm.LocalArm, error)
- type AttrConfig
- type Dofbot
- func (a *Dofbot) Close() error
- func (a *Dofbot) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
- func (a *Dofbot) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
- func (a *Dofbot) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
- func (a *Dofbot) Grab(ctx context.Context) (bool, error)
- func (a *Dofbot) GripperStop(ctx context.Context) error
- func (a *Dofbot) IsMoving(ctx context.Context) (bool, error)
- func (a *Dofbot) JointPositions(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error)
- func (a *Dofbot) ModelFrame() referenceframe.Model
- func (a *Dofbot) MoveToJointPositions(ctx context.Context, pos *componentpb.JointPositions, ...) error
- func (a *Dofbot) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error
- func (a *Dofbot) Open(ctx context.Context) error
- func (a *Dofbot) Stop(ctx context.Context, extra map[string]interface{}) error
Constants ¶
This section is empty.
Variables ¶
var ModelName = resource.NewDefaultModel("yahboom-dofbot")
ModelName is the model used to refer to the yahboom model.
Functions ¶
Types ¶
type AttrConfig ¶ added in v0.1.2
AttrConfig is the config for a yahboom arm.
func (*AttrConfig) Validate ¶ added in v0.1.2
func (config *AttrConfig) Validate(path string) error
Validate ensures all parts of the config are valid.
type Dofbot ¶
type Dofbot struct { generic.Unimplemented // contains filtered or unexported fields }
Dofbot implements a yahboom dofbot arm.
func (*Dofbot) CurrentInputs ¶
CurrentInputs returns the current inputs of the arm.
func (*Dofbot) EndPosition ¶
func (a *Dofbot) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
EndPosition returns the current position of the arm.
func (*Dofbot) GoToInputs ¶
GoToInputs moves the arm to the specified goal inputs.
func (*Dofbot) Grab ¶
Grab makes the gripper grab. Approach: Move to close, poll until gripper reaches the closed state (position > grabAngle) or the position changes little (< minMovement) between iterations.
func (*Dofbot) GripperStop ¶
GripperStop is unimplemented for the dofbot.
func (*Dofbot) JointPositions ¶
func (a *Dofbot) JointPositions(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error)
JointPositions returns the current joint positions of the arm.
func (*Dofbot) ModelFrame ¶
func (a *Dofbot) ModelFrame() referenceframe.Model
ModelFrame returns all the information necessary for including the arm in a FrameSystem.
func (*Dofbot) MoveToJointPositions ¶
func (a *Dofbot) MoveToJointPositions(ctx context.Context, pos *componentpb.JointPositions, extra map[string]interface{}) error
MoveToJointPositions moves the arm's joints to the given positions.
func (*Dofbot) MoveToPosition ¶
func (a *Dofbot) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error
MoveToPosition moves the arm to the given absolute position.