Public Member Functions | |
def | __init__ |
The default RobotEye constructor. More... | |
def | Home |
Perform homing routine. More... | |
def | Stop |
Stop any in-progress motion. More... | |
def | SetApertureAngles |
Blocking synchronised motion command. More... | |
def | TrackApertureAngles |
Rapid-response motion command. More... | |
def | SetAcceleration |
Modify acceleration limits. More... | |
def | GetApertureAngles |
A method to capture the current position of the RobotEye. More... | |
def | GetSerial |
A method to acquire the serial number of the target RobotEye. More... | |
def | StartStabilisation |
Start the stabilisation. More... | |
def | StopStabilisation |
Stop the stabilisation. More... | |
def | SetStabilisedTarget |
Set the stabilisation target. More... | |
def | GetStabilisedTarget |
Get the stabilisation target. More... | |
def | GetStabilisedTargetDistance |
Get the stabilisation target distance. More... | |
def | GetStabilisedRoll |
Get the stabilisation roll. More... | |
def | SetStabilisedSpeed |
Set the stabilisation speed. More... | |
def | GetLastBlockingError |
A method to retrieve the last error code returned by the RobotEye to a blocking transaction. | |
def | SetMotors |
Set the motors on or off. More... | |
The RobotEye class.
This class contains all of the public programmatic interfaces to the RobotEye system. The class can be instantiated multiple times to connect to RobotEye systems on different IP addresses. The response from each API is in JSON format which can be easily loaded using json.loads
def RobotEye.RobotEye.RobotEye.__init__ | ( | self, | |
eyeip | |||
) |
def RobotEye.RobotEye.RobotEye.GetApertureAngles | ( | self | ) |
A method to capture the current position of the RobotEye.
This command will query the robot eye for it's current position. If the return value is NO_ERROR then Az and El will contain the current eye location in a JSON format
def RobotEye.RobotEye.RobotEye.GetSerial | ( | self | ) |
def RobotEye.RobotEye.RobotEye.GetStabilisedRoll | ( | self | ) |
Get the stabilisation roll.
This command will get the roll needed to apply to the camera frame.
def RobotEye.RobotEye.RobotEye.GetStabilisedTarget | ( | self | ) |
Get the stabilisation target.
This command will get the stabilisation target.
def RobotEye.RobotEye.RobotEye.GetStabilisedTargetDistance | ( | self | ) |
Get the stabilisation target distance.
This command will get the distance error of the stabilisation target.
def RobotEye.RobotEye.RobotEye.Home | ( | self | ) |
Perform homing routine.
This command will cause a RobotEye to execute it's homing routine. The overloaded variant with no arguments is a blocking command, and will not return until the motion is complete or the eye has responded with an error.
def RobotEye.RobotEye.RobotEye.SetAcceleration | ( | self, | |
Acceleration | |||
) |
Modify acceleration limits.
This method allows the default controller acceleration settings to be overwritten. This is not intended to be a commonly used function - for a detailed description of usage, contact Ocular Robotics Pty. Ltd.
Acceleration | - the new acceleration in rev/s/s |
def RobotEye.RobotEye.RobotEye.SetApertureAngles | ( | self, | |
Az, | |||
El, | |||
Speed | |||
) |
Blocking synchronised motion command.
Method used to point the RobotEye aperture at a specific angle, specified in degrees, in the default RobotEye coordinate system. The function waits for the motion to complete before returning control to the caller. It is intended to be the standard blocking method for pointing a Robot Eye.
Az | - Azimuth angle in degrees (-180 to 180) |
El | - Elevatiuon angle in degrees (-max to +max) where max depends on model (usually max = 35 degrees). 0 degrees is the horizontal plane. |
Speed | - in Hz (the vector motion speed). This is an upper speed limit only, depending on the current acceleration limit the eye may not reach the specified speed during the motion. |
def RobotEye.RobotEye.RobotEye.SetMotors | ( | self, | |
on | |||
) |
Set the motors on or off.
This command will power on or off both motors. At power-on, the motors default to on. This setting is not preserved through power-cycles of the device.
on | - Desired state of the motors. Valid values are true or false. True turns motors on, and false turns them off. |
def RobotEye.RobotEye.RobotEye.SetStabilisedSpeed | ( | self, | |
speed | |||
) |
Set the stabilisation speed.
This command will set the speed used to apply the stabilisation movements.
def RobotEye.RobotEye.RobotEye.SetStabilisedTarget | ( | self, | |
yaw, | |||
pitch, | |||
roll | |||
) |
Set the stabilisation target.
This command will set the stabilisation target.
yaw | - in degrees. |
pitch | - in degrees. |
roll | - in degrees. |
def RobotEye.RobotEye.RobotEye.StartStabilisation | ( | self | ) |
Start the stabilisation.
This command will activate the stabilisation module.
def RobotEye.RobotEye.RobotEye.Stop | ( | self | ) |
Stop any in-progress motion.
This command will cause a RobotEye to immediately cease motion. It can be used to terminate an in-progress non-blocking Set Aperture Angles or Home instruction, in which case the non-blocking callback will return ERR_TIMEOUT
def RobotEye.RobotEye.RobotEye.StopStabilisation | ( | self | ) |
Stop the stabilisation.
This command will deactivate the stabilisation module.
def RobotEye.RobotEye.RobotEye.TrackApertureAngles | ( | self, | |
Az, | |||
El, | |||
Speed | |||
) |
Rapid-response motion command.
Method used to point the RobotEye aperture at a specific angle, specified in degrees, in the default RobotEye coordinate system. This function sends setpoints to the RobotEye controller. Previous setpoints are aborted once new setpoints are sent. Use this method for tracking dynamically moving targets, or where extremely low-latency motion control is required.
Az | - in degrees (-180 to 180) |
El | - in degrees (-max to +max) where max depends on model (usually max = 35 degrees). 0 degrees is the horizontal plane. |
Speed | - in Hz (the vector motion speed) |