xarm

Documentation

Overview

Package xarm implements some xArms.

Index

• Constants
• func MakeModelFrame(name, modelName string) (referenceframe.Model, error)
• func NewxArm(ctx context.Context, conf resource.Config, logger golog.Logger, ...) (arm.Arm, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)

Constants

const (
	ModelName6DOF = "xArm6"    // ModelName6DOF is the name of an xArm6
	ModelName7DOF = "xArm7"    // ModelName7DOF is the name of an xArm7
	ModelNameLite = "xArmLite" // ModelNameLite is the name of an xArmLite
)

Functions

func MakeModelFrame

func MakeModelFrame(name, modelName string) (referenceframe.Model, error)

MakeModelFrame returns the kinematics model of the xarm arm, which has all Frame information.

func NewxArm

func NewxArm(ctx context.Context, conf resource.Config, logger golog.Logger, modelName string) (arm.Arm, error)

NewxArm returns a new xArm of the specified modelName.

Types

type Config

type Config struct {
	Host         string  `json:"host"`
	Port         int     `json:"port"`
	Speed        float32 `json:"speed_degs_per_sec"`
	Acceleration float32 `json:"acceleration_degs_per_sec_per_sec"`
	// contains filtered or unexported fields
}

Config is used for converting config attributes.

func (*Config) Validate

func (cfg *Config) Validate(path string) ([]string, error)

Validate validates the config.