yaq/traits/has-transformed-position


This trait expands the `has-limits` trait by controlling motor positions using two coordinate systems. One frame (the "transformed" frame) is for common client control. The other frame (the "native" frame) reports position in terms of low-level motor control.

requires

has-limits

state

Daemons with the has-transformed-position trait will provide the following state information:

native_reference_position (double)
The reference position, expressed in native coordinates. Default is `0.0`

messages

Daemons with the has-transformed-position trait expose the following public messages:

to_transformed ➜ double
Convert a native coordinate to transformed. This is for debugging purposes and is discouraged in normal use.
parameters:

native_coordinate (double)

to_native ➜ double
Convert a transformed coordinate to native. This is for debugging purposes and is discouraged in normal use.
parameters:

transformed_coordinate (double)

set_native_reference
Set the reference position in native coordinates. Reference position need not be within hardware limits.
parameters:

native_coordinate (double)

get_native_reference ➜ double
Get the reference position in native coordinates.

set_native_position
Set the current position in native coordinates.
parameters:

native_coordinate (double)

get_native_position ➜ double
Get the current position in native coordinates.

get_native_limits ➜ {'type': 'array', 'items': 'double'}
Returns limits in the relative coordinate system.

get_native_units ➜ string
Get the units of native coordinates.


built 2022-08-09 18:16:43                                      CC0: no copyright