This page describes the Python BaseCyclic API.
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 |
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 |