Bindings¶
All binding informations is generated from actual master branch of the source repository.
print
¶
Prints data, output channel of this command depends on context.
example: |
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type: | callback |
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args: |
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set_servo_config
¶
sets configuration to servo
example: |
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type: | callback |
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get_system_time
¶
Returns actual system time in milliseconds
example: | get_system_time{} |
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type: | callback |
returns: | (unsigned)
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get_leg_state
¶
returns actual state of the leg
example: |
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type: | callback |
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args: |
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returns: | angles representing state
(number rad array)
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get_tip_pos
¶
returns tip position of leg, when joints are in provided configuration
example: |
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type: | callback |
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returns: | point relative to robot frame
(3D point in robot frame (number array) )
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joint_goto
¶
moves join to desired ‘pos’ in ‘time’
example: |
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type: | callback |
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joint_spin
¶
spins joint for ‘time’ with ‘velocity’
example: |
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type: | callback |
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send_read_pos
¶
sends command for reading the position of joint
example: |
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type: | callback |
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sync
¶
synchronizes execution of event-commands until all previous events are finished
example: |
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type: | callback |
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args: |
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returns: | id of the message
(unsigned)
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get_joints
¶
returns list of active joints
example: | get_joints{} |
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type: | callback |
returns: | list of joints
(string array)
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tip_goto
¶
Moves tip of the leg to position ‘target’ in ‘time’. ‘steps’represents number of iterations of the algorithm that solves the IK formula.
example: |
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type: | callback |
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relative_tip_goto
¶
Moves tip of the leg to position target in time. The target represents position relative to the positon of body
example: |
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type: | callback |
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args: |
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tip_move
¶
Moves tip of the leg in ‘dir’ for ‘time’. ‘steps’ represents number of iterations of the algorithm that solves the IK formula.
example: |
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type: | callback |
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body_goto
¶
Moves the body into a absolute coordinate specificed by pose in time.
example: |
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type: | callback |
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body_move
¶
Moves body of the robot in direction ‘dir’ and rotates it by ‘rot’, by moving all legs in opposite direction, this is done in ‘time’. ‘steps’ represents number of iterations of the algorithm that solves the IK formula.
example: |
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type: | callback |
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set_body_pose
¶
Sets actual pose of the body of the robot relative to world frame
example: |
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type: | callback |
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args: |
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on_msg
¶
executes callback when specific type of message arrives
example: |
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type: | lua procedure |
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args: |
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on_sync
¶
synces and executes callback when that sync finishes
example: |
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type: | lua procedure |
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block_yield
¶
blocks execution until all joints finish their task
example: |
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type: | lua procedure |
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args: |
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Chain
¶
Chain converts a coroutine into a iterable event loop. This makes it possible to chain up complex movements into one thing.
example: | chain:new(function () ... end):exec() |
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type: | class |