vcJointDriver

A driver in a vcMotionController.

See in: Overview

Module: vcRobotics2

Parent: vcObject

Children -

Referenced by: vcMotionController.Drivers, vcMotionController.ExternalDrivers, vcMotionController.createDriver(), vcMotionController.setToolCenterPoint(), ... (see more)

vcMotionController.Drivers
vcMotionController.ExternalDrivers
vcMotionController.createDriver()
vcMotionController.setToolCenterPoint()
vcMotionController.testExternalDriverValueLimits()
vcMotionController.testInternalDriverValueLimits()
vcSingleDofLinkJoint.Driver

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
Acceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the "nominal" acceleration of this driver. Used e.g. in motion planning.
ActiveController	vcMotionController	R	Gets the controller that has control of the driver. Can be different from OwnerController if the driver is exported to another controller.
CurrentTurn	Integer	R	Gets the current turn number, based on Value and other properties that define the turn limits.
Deceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the "nominal" deceleration of this driver. Used e.g. in motion planning.
ExternalIndex	Integer	RW	Gets or sets the external index for the driver. See more Index must be equal or grater than zero. Assignment can raise error. Exceptions: ValueError: When index is reserved by another driver or index can't be assigned e.g. when the driver is not exported.
InitialValue	Real	RW	Gets or sets the initial value of the driver.
InternalIndex	Integer OR None	RW	Gets or sets the internal index for the driver. See more Index must be equal or grater than zero. Assignment can raise error. Exceptions: IndexError: When index is out of bounds. ValueError: When index editing is disabled e.g. during simulation.
Jerk	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the "nominal" jerk of this driver. Used e.g. in motion planning.
MaxLimit	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the maximum value for the driver. See more The only available variables are the other JointDrivers in the same controller, and INF can be used for infinitely rotating drivers.
MaxVelocity	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the maximum velocity of this driver. Used e.g. in motion planning.
MinLimit	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets an expression property that determines the minimum value for the driver. See more The only available variables are the other JointDrivers in the same controller, and -INF can be used for infinitely rotating drivers.
Name	String	RW	Gets or sets the driver's name.
OwnerController	vcMotionController	R	Gets the controller that owns the driver i.e. the original controller.
Properties	vcPropertyContainer	R	Gets the property container.
TurnCenterPoint	Real	RW	Gets or sets the center point used for turn calculations. See more This can be used to offset the turn ranges/span. The span is applied symmetrically around this point. The default is zero.
TurnInclusiveLimit	vcJointDriverInclusiveLimit	RW	Gets or sets a value that determines whether the lower and upper limits of TurnSpan will be included in the turn.
TurnSpan	Real	RW	Gets or sets the span of a turn, i.e., the range of values that belong to a turn See more For turn 0, the range then starts from (TurnCenterPoint - TurnSpan / 2) and ends at (TurnCenterPoint + TurnSpan / 2).
Value	Real	RW	Gets or sets the value of the driver.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
delete	None	None	Removes the driver from its owning controller and deletes the driver. See more Returns: None Exceptions: InvalidOperationError: When the driver is currently exported via connected interface.
resetTurn	None	Real targetValue, Optional Keyword[valuePickingStrategy = vcClosestValuePickingStrategy]	Adjusts the driver's value by adding/removing full revolutions so that it is as close as possible to the target value. See more If TurnSpan is zero, this method does nothing. Returns: None Parameters: targetValue (float): Target for Value. Optional: valuePickingStrategy (vcClosestValuePickingStrategy): Strategy for picking the closest value. vcClosestValuePickingStrategy.CLOSEST is used by default.