actuator(name[, mandparams, optparams]) -> creates new instance of actuator plugin ‘name’
This is the constructor for an actuator plugin. It initializes an new instance of the plugin specified by ‘name’. The initialisation parameters are parsed and unnamed parameters are used in their incoming order to fill first mandatory parameters and afterwards optional parameters. Parameters may be passed with name as well but after the first named parameter no more unnamed parameters are allowed.
See pluginHelp(name) for detail information about the specific initialisation parameters.
Parameters: | name : {str}
mandparams : {variant(s)}
optparams : {variant(s)}, optional
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Returns: | inst : {actuator}
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Most actuators have the possibility to calibrate or home certain axes. Use this command to start the calibration.
Parameters: | axis : {int}
axis1 : {int}
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Raises: | NotImplemented :
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Every plugin can define further functions that can for instance be used in order to call specific calibration routines of cameras or actuators. This general method is used to call one of these specific functions registered under funcName.
Parameters: | funcName : {str}
param1 : {variant}, optional
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Returns: | out : {variant, list of variants}.
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execFuncsInfo
Every plugin can define further functions, that are called by plugin.exec(‘funcName’ [,param1, param2...]). This can for instance be used in order to call specific calibration routines of cameras or actuators. This method allows printing information about available functions of this type.
Parameters: | funcName : {str}, optional
detailLevel : {dict}, optional
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Returns: | out : {None or dict}
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Returns the current value of the internal plugin parameter with ‘name’. The type of the returned value depends on the real type of the internal plugin, which may be:
The name of the parameter must have the following form:
Parameters: | name : {str}
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Returns: | out : {variant}
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Raises: | ValueError :
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Each plugin defines a set of parameters, where each parameter has got a name and maps to any value. The value is represented by the C++ class ito::ParamBase and can have one of the following types:
Using one of the parameter names, its current value can be obtained by getParam(‘name’) and is writable by setParam(‘name’, newValue) (if not read-only)
Returns: | out : {list}
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Each plugin defines a set of parameters, where each parameter has got a name and maps to any value. The value is represented by the C++ class ito::ParamBase and can have one of the following types:
Using one of the parameter names, its current value can be obtained by getParam(‘name’) and is writable by setParam(‘name’, newValue) (if not read-only)
This method prints a detailed table with the name, current value, description string and further meta information of every plugin parameter.
Parameters: | detailLevel : {dict}, optional
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Returns: | out : {None, dict}
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This method requests the current position(s) of the given axes and returns it.
Parameters: | axis : {int}
axis1 : {int}
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Returns: | positions : {float or tuple of float}
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Each axis of an actuator plugin has got a status value that is used for informing about the current status of the axis.
The status value is an or-combination of the following possible values:
Moving flags:
Switches flags:
Status flags:
Returns: | status : {list of integers}
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Raises: | RuntimeError :
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Returns: | name : {str}
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Sets the interrupt flag of an actuator. The actuator interrupts the movement of all running axes as soon as this flag is checked again.
The current positions of all indicated axes (axis, axis1,...) are considered to be 0 such that following positioning commands are relative with respect to the current position.
Parameters: | axis : {int}
axis1 : {int}
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Raises: | NotImplemented :
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Sets the internal plugin parameter with ‘name’ to a new value. The plugin itsself can decide whether the given value is accepted as new value. This may depend on the type of the given value, but also on the allowed value range indicated by further meta information of the internal parameter. Parameters that have the read-only flag set can not be reset.
The name of the parameter must have the following form:
Parameters: | name : {str}
value : {str, int, double, ...}
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All arguments are a pair of axis index and the new target position of this axis. This method starts the absolute positioning of all given axes. If the ‘async’ parameter of the plugin is 0 (usually default), a synchronous positioning is started, hence, this method returns after that all axes reached their target position or a timeout occurred. Else this method immediately returns and the actuator goes on moving.
Parameters: | axisM : {int}
posM : {float}
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All arguments are a pair of axis index and the relative moving-distance of this axis. This method starts the relative positioning of all given axes. If the ‘async’ parameter of the plugin is 0 (usually default), a synchronous positioning is started, hence, this method returns after that all axes reached their target position or a timeout occurred. Else this method immediately returns and the actuator goes on moving.
Parameters: | axisM : {int}
posM : {float}
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Raises: | RuntimeError :
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Raises: | RuntimeError :
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