BaseCyclic \(Python\)
June 4, 2021 ยท View on GitHub
This page describes the Python BaseCyclic API.
RPC reference
This section describes the existing RPCs used in this API.
Service to exchange cyclic data with base
BaseCyclicClient RPCs
| Function name | Return type | Input type | Description |
|---|---|---|---|
| Refresh | Feedback | Command | Sends a command to actuators and interface and returns feedback from base, actuators, and interface on actual status |
| RefreshCommand | Empty | Command | Sends a command to actuators and interface without receiving feedback |
| RefreshFeedback | Feedback | Empty | Obtains feedback from base, actuators, and interface on their status |
| RefreshCustomData | CustomData | CustomData | Retrieves custom data |
Class reference
This section describes the data classes used in this API.
Messages
| Class | Description |
|---|---|
| ActuatorCommand | Defines an actuator command |
| ActuatorCustomData | Custom development data from an actuator, content varies according to debug needs |
| ActuatorFeedback | Defines the feedback provided by an actuator |
| BaseFeedback | Defines the feedback provided by the base |
| Command | Defines a command provided to robot devices (actuators and interface) |
| CustomData | Custom development data, content varies according to debug needs |
| Feedback | Defines the feedback provided by robot devices (base, actuators and interface) |
Enumerators
| Enumerator | Description |
|---|---|
| ServiceVersion | Identifies BaseCyclic current version |