Index

A

acc_angle() (firmware.cpp.imu.imu.IMU method) acc_g() (firmware.cpp.imu.imu.IMU method) all_motors (firmware.robot.model.Body property) angle (firmware.robstride_motors.client.FeedbackResp attribute) Angles (class in firmware.cpp.imu.imu) ankle (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute)

Arm (class in firmware.bionic_motors.model) (class in firmware.robot.model) (class in firmware.robstride_motors.model) ARM_PARAMS (firmware.bionic_motors.utils.ViolenceStrength attribute) ARM_PARAMS_HEAVY (firmware.bionic_motors.utils.ViolenceStrength attribute)

B

bicep (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute) BionicMotor (class in firmware.bionic_motors.motors) Body (class in firmware.bionic_motors.model) (class in firmware.robot.model) (class in firmware.robstride_motors.model)

BodyPart (class in firmware.robot.model) bus (firmware.bionic_motors.motors.CANInterface attribute) bustype (firmware.bionic_motors.motors.CANInterface attribute)

C

calculate_gripper_position() (firmware.scripts.robot_controller.Robot static method) calibrate() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robstride_motors.motors.RobstrideMotor method) calibrate_motors() (firmware.robot.robot.Robot method) calibrate_yaw() (firmware.imu.imu.IMUInterface method) Calibration (firmware.robstride_motors.client.MotorMode attribute) CALIBRATION_SPEED (firmware.robstride_motors.motors.RobstrideMotor attribute) can_messages (firmware.bionic_motors.motors.BionicMotor attribute) CANInterface (class in firmware.bionic_motors.motors) CanMessage (class in firmware.bionic_motors.motors)

channel (firmware.bionic_motors.motors.CANInterface attribute) Client (class in firmware.robstride_motors.client) configuration_message() (in module firmware.bionic_motors.responses) console() (in module firmware.scripts.show_imu) Control (firmware.robstride_motors.client.MotorMsg attribute) ControlParams (class in firmware.bionic_motors.motors) create_motor() (firmware.motor_utils.motor_factory.MotorFactory static method) cur_fit_gain (firmware.robstride_motors.motors.RobstrideParams attribute) cur_ki (firmware.robstride_motors.motors.RobstrideParams attribute) cur_kp (firmware.robstride_motors.motors.RobstrideParams attribute) Current (firmware.robstride_motors.client.RunMode attribute) custom_message() (in module firmware.bionic_motors.responses)

D

data (firmware.bionic_motors.motors.CanMessage attribute) debug() (in module firmware.bionic_motors.commands) deg_to_rad() (in module firmware.robot.robot) degrees_to_radians() (in module firmware.scripts.move_legs)

Disable (firmware.robstride_motors.client.MotorMsg attribute) disable() (firmware.robstride_motors.client.Client method) (firmware.robstride_motors.motors.RobstrideMotor method) disable_motors() (firmware.robot.robot.Robot method) DOF6 (class in firmware.cpp.imu.imu)

E

elbow (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute) Enable (firmware.robstride_motors.client.MotorMsg attribute)

enable() (firmware.robstride_motors.client.Client method) (firmware.robstride_motors.motors.RobstrideMotor method) error_rate() (firmware.robstride_motors.client.Client method) errors (firmware.robstride_motors.client.FeedbackResp attribute)

F

Feedback (firmware.robstride_motors.client.MotorMsg attribute) FeedbackResp (class in firmware.robstride_motors.client) filter_motor_values() (firmware.robot.robot.Robot static method) (firmware.scripts.robot_controller.Robot static method) firmware module firmware.bionic_motors module firmware.bionic_motors.commands module firmware.bionic_motors.demos module firmware.bionic_motors.model module firmware.bionic_motors.motors module firmware.bionic_motors.responses module firmware.bionic_motors.utils module firmware.cpp module firmware.cpp.imu module firmware.cpp.imu.imu module firmware.imu module firmware.imu.imu module firmware.motor_utils module

firmware.motor_utils.motor_factory module firmware.motor_utils.motor_utils module firmware.robot module firmware.robot.model module firmware.robot.robot module firmware.robot.robot_test module firmware.robstride_motors module firmware.robstride_motors.client module firmware.robstride_motors.model module firmware.robstride_motors.motors module firmware.scripts module firmware.scripts.move_legs module firmware.scripts.robot_controller module firmware.scripts.robstride_scripts module firmware.scripts.show_imu module foot (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute) force_position_hybrid_control() (in module firmware.bionic_motors.commands)

G

get_6DOF() (firmware.cpp.imu.imu.IMU method) get_current() (firmware.robstride_motors.motors.RobstrideMotor method) get_imu() (firmware.imu.imu.IMUInterface method) get_imu_data() (firmware.imu.imu.IMUInterface method) get_measurement() (firmware.imu.imu.IMUInterface method) get_message_type() (in module firmware.bionic_motors.responses) get_motor_current() (in module firmware.bionic_motors.commands) get_motor_info() (firmware.robstride_motors.client.Client method) get_motor_pos() (in module firmware.bionic_motors.commands) get_motor_positions() (firmware.robot.robot.Robot method) (firmware.scripts.robot_controller.Robot method) get_motor_power() (in module firmware.bionic_motors.commands)

get_motor_speed() (in module firmware.bionic_motors.commands) get_motor_speeds() (firmware.robot.robot.Robot method) get_position() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robstride_motors.motors.RobstrideMotor method) get_speed() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robstride_motors.motors.RobstrideMotor method) gripper (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute) GRIPPERS_PARAMS (firmware.bionic_motors.utils.ViolenceStrength attribute) gyr_rate() (firmware.cpp.imu.imu.IMU method) GYRO_YAW_THRESHOLD (firmware.imu.imu.IMUInterface attribute)

H

HallEncodingFault (firmware.robstride_motors.client.MotorError attribute) hip (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute)

hold_position() (firmware.bionic_motors.model.Arm method) (firmware.bionic_motors.model.Leg method)

I

id (firmware.bionic_motors.motors.CanMessage attribute) IMU (class in firmware.cpp.imu.imu) IMUInterface (class in firmware.imu.imu)

Info (firmware.robstride_motors.client.MotorMsg attribute) IntVector2D (class in firmware.cpp.imu.imu) IntVector3D (class in firmware.cpp.imu.imu)

K

KalmanFilter (class in firmware.cpp.imu.imu) kd (firmware.bionic_motors.motors.ControlParams attribute)

knee (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute) kp (firmware.bionic_motors.motors.ControlParams attribute)

L

left_arm (firmware.bionic_motors.model.Body attribute) (firmware.robot.model.Body attribute) (firmware.robstride_motors.model.Body attribute) left_leg (firmware.bionic_motors.model.Body attribute) (firmware.robot.model.Body attribute) (firmware.robstride_motors.model.Body attribute) Leg (class in firmware.bionic_motors.model) (class in firmware.robot.model) (class in firmware.robstride_motors.model)

LEG_PARAMS (firmware.bionic_motors.utils.ViolenceStrength attribute) LEG_PARAMS_HEAVY (firmware.bionic_motors.utils.ViolenceStrength attribute) limit_cur (firmware.robstride_motors.motors.RobstrideParams attribute) limit_spd (firmware.robstride_motors.motors.RobstrideParams attribute) limit_torque (firmware.robstride_motors.motors.RobstrideParams attribute) live_plot() (in module firmware.scripts.show_imu) loc_kp (firmware.robstride_motors.motors.RobstrideParams attribute)

M

mac() (in module firmware.scripts.move_legs) MAG_TO_MCRO_TSLA (firmware.imu.imu.IMUInterface attribute) MagneticEncodingFault (firmware.robstride_motors.client.MotorError attribute) main() (in module firmware.robot.robot_test) (in module firmware.scripts.move_legs) (in module firmware.scripts.robstride_scripts) (in module firmware.scripts.show_imu) mode (firmware.robstride_motors.client.FeedbackResp attribute) module firmware firmware.bionic_motors firmware.bionic_motors.commands firmware.bionic_motors.demos firmware.bionic_motors.model firmware.bionic_motors.motors firmware.bionic_motors.responses firmware.bionic_motors.utils firmware.cpp firmware.cpp.imu firmware.cpp.imu.imu firmware.imu firmware.imu.imu firmware.motor_utils firmware.motor_utils.motor_factory firmware.motor_utils.motor_utils firmware.robot firmware.robot.model firmware.robot.robot firmware.robot.robot_test firmware.robstride_motors firmware.robstride_motors.client firmware.robstride_motors.model firmware.robstride_motors.motors firmware.scripts firmware.scripts.move_legs firmware.scripts.robot_controller firmware.scripts.robstride_scripts firmware.scripts.show_imu

motor_ids (firmware.bionic_motors.model.Arm property) (firmware.bionic_motors.model.Body property) (firmware.bionic_motors.model.Leg property) (firmware.robot.model.Body property) (firmware.robot.model.BodyPart property) (firmware.robstride_motors.model.Arm property) (firmware.robstride_motors.model.Body property) (firmware.robstride_motors.model.Leg property) MotorError (class in firmware.robstride_motors.client) MotorFactory (class in firmware.motor_utils.motor_factory) MotorInterface (class in firmware.motor_utils.motor_utils) MotorMode (class in firmware.robstride_motors.client) MotorMsg (class in firmware.robstride_motors.client) MotorParams (class in firmware.motor_utils.motor_utils) motors (firmware.bionic_motors.model.Arm property) (firmware.bionic_motors.model.Leg property) (firmware.robot.model.BodyPart attribute) (firmware.robstride_motors.model.Arm property) (firmware.robstride_motors.model.Leg property)

O

Operation (firmware.robstride_motors.client.RunMode attribute)

Overcurrent (firmware.robstride_motors.client.MotorError attribute) Overtemp (firmware.robstride_motors.client.MotorError attribute)

P

pelvis (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute) pitch (firmware.cpp.imu.imu.Angles property) (firmware.cpp.imu.imu.DOF6 property)

Position (firmware.robstride_motors.client.RunMode attribute) position_message() (in module firmware.bionic_motors.responses) position_speed_message() (in module firmware.bionic_motors.responses) push_bits() (in module firmware.bionic_motors.commands) push_fp32_bits() (in module firmware.bionic_motors.commands)

R

rad_to_deg() (in module firmware.robot.robot) (in module firmware.scripts.robot_controller) raw_acc() (firmware.cpp.imu.imu.IMU method) raw_gyr() (firmware.cpp.imu.imu.IMU method) raw_mag() (firmware.cpp.imu.imu.IMU method) read() (firmware.bionic_motors.motors.BionicMotor method) read_acc() (firmware.cpp.imu.imu.IMU method) read_gyr() (firmware.cpp.imu.imu.IMU method) read_mag() (firmware.cpp.imu.imu.IMU method) read_param() (firmware.robstride_motors.client.Client method) read_result() (in module firmware.bionic_motors.responses) ReadParam (firmware.robstride_motors.client.MotorMsg attribute) Reset (firmware.robstride_motors.client.MotorMode attribute) right_arm (firmware.bionic_motors.model.Body attribute) (firmware.robot.model.Body attribute) (firmware.robstride_motors.model.Body attribute)

right_leg (firmware.bionic_motors.model.Body attribute) (firmware.robot.model.Body attribute) (firmware.robstride_motors.model.Body attribute) Robot (class in firmware.robot.robot) (class in firmware.scripts.robot_controller) RobstrideMotor (class in firmware.robstride_motors.motors) RobstrideParams (class in firmware.robstride_motors.motors) roll (firmware.cpp.imu.imu.Angles property) (firmware.cpp.imu.imu.DOF6 property) rotator_cuff (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute) Run (firmware.robstride_motors.client.MotorMode attribute) RunMode (class in firmware.robstride_motors.client)

S

sec (firmware.cpp.imu.imu.Time property) send() (firmware.bionic_motors.motors.BionicMotor method) servo_id (firmware.robstride_motors.client.FeedbackResp attribute) set_control_params() (firmware.robstride_motors.motors.RobstrideMotor method) set_current() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robstride_motors.motors.RobstrideMotor method) set_current_torque_control() (in module firmware.bionic_motors.commands) set_operation_mode() (firmware.robstride_motors.motors.RobstrideMotor method) set_position() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robot.robot.Robot method) (firmware.robstride_motors.motors.RobstrideMotor method) (firmware.scripts.robot_controller.Robot method) set_position_control() (in module firmware.bionic_motors.commands) set_position_incremental() (firmware.bionic_motors.model.Arm method) (firmware.bionic_motors.model.Leg method)

set_speed() (firmware.robstride_motors.motors.RobstrideMotor method) set_speed_control() (in module firmware.bionic_motors.commands) set_zero_position() (firmware.bionic_motors.motors.BionicMotor method) (firmware.motor_utils.motor_utils.MotorInterface method) (firmware.robstride_motors.motors.RobstrideMotor method) (in module firmware.bionic_motors.commands) SetID (firmware.robstride_motors.client.MotorMsg attribute) shoulder (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute) spd_filt_gain (firmware.robstride_motors.motors.RobstrideParams attribute) spd_ki (firmware.robstride_motors.motors.RobstrideParams attribute) spd_kp (firmware.robstride_motors.motors.RobstrideParams attribute) Speed (firmware.robstride_motors.client.RunMode attribute) speed_message() (in module firmware.bionic_motors.responses) split_into_bytes() (in module firmware.bionic_motors.commands) step() (firmware.cpp.imu.imu.KalmanFilter method) (firmware.imu.imu.IMUInterface method)

T

temp (firmware.robstride_motors.client.FeedbackResp attribute) test_filter_motor_values() (in module firmware.robot.robot_test) test_motor() (in module firmware.scripts.move_legs) test_motors() (firmware.robot.robot.Robot method) test_set_position() (in module firmware.robot.robot_test) test_torque_control() (in module firmware.scripts.move_legs)

test_zero_out() (in module firmware.robot.robot_test) thigh (firmware.bionic_motors.model.Leg attribute) (firmware.robstride_motors.model.Leg attribute) Time (class in firmware.cpp.imu.imu) torque (firmware.robstride_motors.client.FeedbackResp attribute) total_seconds (firmware.cpp.imu.imu.Time property)

U

Uncalibrated (firmware.robstride_motors.client.MotorError attribute) Undervoltage (firmware.robstride_motors.client.MotorError attribute) update_id() (firmware.robstride_motors.client.Client method) update_motor_data() (firmware.robot.robot.Robot method)

update_position() (firmware.bionic_motors.motors.BionicMotor method) update_speed() (firmware.bionic_motors.motors.BionicMotor method) use_control_mode() (firmware.robstride_motors.client.Client method) usec (firmware.cpp.imu.imu.Time property)

V

valid_message() (in module firmware.bionic_motors.responses) Vector2D (class in firmware.cpp.imu.imu) Vector3D (class in firmware.cpp.imu.imu)

velocity (firmware.robstride_motors.client.FeedbackResp attribute) version (firmware.cpp.imu.imu.IMU property) ViolenceStrength (class in firmware.bionic_motors.utils)

W

wrist (firmware.bionic_motors.model.Arm attribute) (firmware.robstride_motors.model.Arm attribute)

write_param() (firmware.robstride_motors.client.Client method) WriteParam (firmware.robstride_motors.client.MotorMsg attribute)

X

x (firmware.cpp.imu.imu.DOF6 property) (firmware.cpp.imu.imu.IntVector2D property) (firmware.cpp.imu.imu.IntVector3D property) (firmware.cpp.imu.imu.Vector2D property) (firmware.cpp.imu.imu.Vector3D property)

Y

y (firmware.cpp.imu.imu.DOF6 property) (firmware.cpp.imu.imu.IntVector2D property) (firmware.cpp.imu.imu.IntVector3D property) (firmware.cpp.imu.imu.Vector2D property) (firmware.cpp.imu.imu.Vector3D property)

yaw (firmware.cpp.imu.imu.Angles property) (firmware.cpp.imu.imu.DOF6 property)

Z

z (firmware.cpp.imu.imu.DOF6 property) (firmware.cpp.imu.imu.IntVector3D property) (firmware.cpp.imu.imu.Vector3D property)

zero_out() (firmware.robot.robot.Robot method) (firmware.scripts.robot_controller.Robot method) zero_pos() (firmware.robstride_motors.client.Client method) ZeroPos (firmware.robstride_motors.client.MotorMsg attribute)