bam.dynamixel.actuator
======================

.. py:module:: bam.dynamixel.actuator


Attributes
----------

.. autoapisummary::

   bam.dynamixel.actuator.XL330_ENCODER_COUNTS_PER_REV
   bam.dynamixel.actuator.XL330_KP_DIVISOR
   bam.dynamixel.actuator.XL330_PWM_LIMIT


Classes
-------

.. autoapisummary::

   bam.dynamixel.actuator.MXActuator
   bam.dynamixel.actuator.XL320Actuator
   bam.dynamixel.actuator.XL330Actuator
   bam.dynamixel.actuator.XL330CurrentActuator


Module Contents
---------------

.. py:class:: MXActuator(testbench_class: bam.testbench.Testbench)

   Bases: :py:obj:`bam.actuator.VoltageControlledActuator`


   Represents a Dynamixel MX-64 or MX-106 actuator


   .. py:method:: initialize()

      Create ``kt`` and ``R`` parameters on the attached model.



   .. py:method:: get_extra_inertia() -> float

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



.. py:class:: XL320Actuator(testbench_class: bam.testbench.Testbench)

   Bases: :py:obj:`bam.actuator.VoltageControlledActuator`


   Represents a Dynamixel XL-320 actuator


   .. py:method:: initialize()

      Create ``kt`` and ``R`` parameters on the attached model.



   .. py:method:: get_extra_inertia() -> float

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



.. py:data:: XL330_ENCODER_COUNTS_PER_REV
   :value: 4096


.. py:data:: XL330_KP_DIVISOR
   :value: 256


.. py:data:: XL330_PWM_LIMIT
   :value: 885


.. py:class:: XL330Actuator(testbench_class: bam.testbench.Testbench)

   Bases: :py:obj:`bam.actuator.VoltageControlledActuator`


   Represents a Dynamixel XL330 actuator.


   .. py:method:: initialize()

      Create ``kt`` and ``R`` parameters on the attached model.



   .. py:method:: get_extra_inertia() -> float

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



.. py:class:: XL330CurrentActuator(testbench_class: bam.testbench.Testbench)

   Bases: :py:obj:`bam.actuator.CurrentControlledActuator`


   Represents a Dynamixel XL330 actuator controlled in current position mode.


   .. py:method:: initialize()

      Create ``kt`` and ``R`` parameters on the attached model.



   .. py:method:: get_extra_inertia() -> float

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