Package intera_interface :: Module digital_io :: Class DigitalIO

Class DigitalIO

object --+
         |
        DigitalIO

DEPRECATION WARNING: This interface will likely be removed in the future. Transition to using the IO Framework and the wrapper classes: gripper.py, cuff.py, camera.py

Interface class for a simple Digital Input and/or Output on the Intera robots.

Input

read input state

Output

turn output On/Off
read current output state

Instance Methods

[hide private]

__init__(self, component_id)
Constructor.

source code

_on_io_state(self, msg)
Updates the internally stored state of the Digital Input/Output.

source code

set_output(self, value, timeout=2.0)
Control the state of the Digital Output.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

is_output
Accessor to check if IO is capable of output.

state
Current state of the Digital Input/Output.

Inherited from object: __class__

Method Details

[hide private]

init(self, component_id)
(Constructor)

source code

Constructor.

Parameters:

component_id - unique id of the digital component

Overrides: object.__init__

set_output(self, value, timeout=2.0)

source code

Control the state of the Digital Output.

Use this function for finer control over the wait_for timeout.

Parameters:

value (bool) - new state {True, False} of the Output.
timeout (float) - Seconds to wait for the io to reflect command. If 0, just command once and return. [0]

Property Details

[hide private]

is_output

Accessor to check if IO is capable of output.

Get Method:: unreachable.is_output(self) - Accessor to check if IO is capable of output.

state

Current state of the Digital Input/Output.

Get Method:: unreachable.state(self) - Current state of the Digital Input/Output.
Set Method:: unreachable.state(self, value) - Control the state of the Digital Output.

Class DigitalIO

__init__(self, component_id) (Constructor)

set_output(self, value, timeout=2.0)

is_output

state

init(self, component_id)
(Constructor)