About

The raeros_servo package is based on ROS and consists of several ROS-services to access the functionalities of the Lynsmotion LSS Smartservo. More information about the servomotor you get here.

Installation

Install it from source with:

cd ~/catkin_ws/src &&
git clone -b melodic https://github.com/romzn/raeros_servo.git &&
cd ../../ &&
catkin_make

Functions

First of all create a ros-package and open a new python file inside the scripts folder.

from raerspy_servo_client.ServoClient import ServocClient()
import rospy

if __name__ == "__main__":
    rospy.init_node()
    servo = ServoClient()
    # User code

Jogging

Jogging let drives the servomotor with an specified velocity. The following command drives the Motor with 100 °/sec and stops if there is an resistance which leads to more than 900 mAmps. After stopping it holds the Position with 400 mAmps.

servo.jog(speed=100, current=900)

Without specified parameters servo.jog() the default value for the current is 700. The Speed also determines the direction. For example if you specify -100 as speed parameter servo.jog(-100) the servo drives in the opposite direction.

Hold

The Servomotor holds the current position with a maximum of 400 mA which is about 3 Nm stall torque.

servo.hold()

Limp

The servomotor turns the current off so that rotating the shaft by hand is possible

servo.limp()

Zeroing

Sets the current position to zero. This is important for absolute position commands.

servo.zero()

MoveAbsolute

servo.moveAbsolute(position=2000, current=900)

Reset

Resets the motor. This is necessary to recover the motor when it is in error state.

servo.reset()

Led

Change the color of the servo LED to your preffered color.

servo.led_to(color)

avaliable-colors : [black, red, green, blue, yellow, cyan, magenta, white]

Motormode

Returns the motor mode as string.

servo.motorMode()

Can be Unknown, Limp, Free Moving, Accelerating, Traveling, Decelerating, Holding, Outside limits, Stuck, Blocked, Safe Mode