bam.dynamixel.actuator

Attributes

XL330_ENCODER_COUNTS_PER_REV
XL330_KP_DIVISOR
XL330_PWM_LIMIT

Classes

MXActuator	Represents a Dynamixel MX-64 or MX-106 actuator
XL320Actuator	Represents a Dynamixel XL-320 actuator
XL330Actuator	Represents a Dynamixel XL330 actuator.
XL330CurrentActuator	Represents a Dynamixel XL330 actuator controlled in current position mode.

Module Contents

class bam.dynamixel.actuator.MXActuator(testbench_class: bam.testbench.Testbench)

Bases: bam.actuator.VoltageControlledActuator

Represents a Dynamixel MX-64 or MX-106 actuator

initialize()

Create kt and R parameters on the attached model.

get_extra_inertia() → float

Return the actuator’s apparent inertia added to the load [kg·m²].

class bam.dynamixel.actuator.XL320Actuator(testbench_class: bam.testbench.Testbench)

Bases: bam.actuator.VoltageControlledActuator

Represents a Dynamixel XL-320 actuator

initialize()

Create kt and R parameters on the attached model.

get_extra_inertia() → float

Return the actuator’s apparent inertia added to the load [kg·m²].

bam.dynamixel.actuator.XL330_ENCODER_COUNTS_PER_REV = 4096

bam.dynamixel.actuator.XL330_KP_DIVISOR = 256

bam.dynamixel.actuator.XL330_PWM_LIMIT = 885

class bam.dynamixel.actuator.XL330Actuator(testbench_class: bam.testbench.Testbench)

Bases: bam.actuator.VoltageControlledActuator

Represents a Dynamixel XL330 actuator.

initialize()

Create kt and R parameters on the attached model.

get_extra_inertia() → float

Return the actuator’s apparent inertia added to the load [kg·m²].

class bam.dynamixel.actuator.XL330CurrentActuator(testbench_class: bam.testbench.Testbench)

Bases: bam.actuator.CurrentControlledActuator

Represents a Dynamixel XL330 actuator controlled in current position mode.

initialize()

Create kt and R parameters on the attached model.

get_extra_inertia() → float

Return the actuator’s apparent inertia added to the load [kg·m²].