251 lines
8.6 KiB
Python
251 lines
8.6 KiB
Python
# $Id$
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# Documentation for KX_ObjectActuator
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from SCA_IActuator import *
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class KX_ObjectActuator(SCA_IActuator):
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"""
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The object actuator ("Motion Actuator") applies force, torque, displacement, angular displacement,
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velocity, or angular velocity to an object.
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Servo control allows to regulate force to achieve a certain speed target.
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"""
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def getForce():
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"""
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Returns the force applied by the actuator.
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@rtype: list [fx, fy, fz, local]
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@return: A four item list, containing the vector force, and a flag specifying whether the force is local.
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"""
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def setForce(fx, fy, fz, local):
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"""
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Sets the force applied by the actuator.
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@type fx: float
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@param fx: the x component of the force.
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@type fy: float
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@param fy: the z component of the force.
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@type fz: float
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@param fz: the z component of the force.
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@type local: boolean
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@param local: - False: the force is applied in world coordinates.
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- True: the force is applied in local coordinates.
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"""
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def getTorque():
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"""
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Returns the torque applied by the actuator.
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@rtype: list [S{Tau}x, S{Tau}y, S{Tau}z, local]
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@return: A four item list, containing the vector torque, and a flag specifying whether
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the torque is applied in local coordinates (True) or world coordinates (False)
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"""
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def setTorque(tx, ty, tz, local):
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"""
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Sets the torque applied by the actuator.
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@type tx: float
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@param tx: the x component of the torque.
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@type ty: float
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@param ty: the z component of the torque.
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@type tz: float
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@param tz: the z component of the torque.
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@type local: boolean
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@param local: - False: the torque is applied in world coordinates.
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- True: the torque is applied in local coordinates.
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"""
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def getDLoc():
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"""
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Returns the displacement vector applied by the actuator.
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@rtype: list [dx, dy, dz, local]
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@return: A four item list, containing the vector displacement, and whether
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the displacement is applied in local coordinates (True) or world
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coordinates (False)
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"""
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def setDLoc(dx, dy, dz, local):
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"""
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Sets the displacement vector applied by the actuator.
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Since the displacement is applied every frame, you must adjust the displacement
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based on the frame rate, or you game experience will depend on the player's computer
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speed.
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@type dx: float
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@param dx: the x component of the displacement vector.
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@type dy: float
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@param dy: the z component of the displacement vector.
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@type dz: float
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@param dz: the z component of the displacement vector.
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@type local: boolean
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@param local: - False: the displacement vector is applied in world coordinates.
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- True: the displacement vector is applied in local coordinates.
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"""
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def getDRot():
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"""
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Returns the angular displacement vector applied by the actuator.
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@rtype: list [dx, dy, dz, local]
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@return: A four item list, containing the angular displacement vector, and whether
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the displacement is applied in local coordinates (True) or world
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coordinates (False)
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"""
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def setDRot(dx, dy, dz, local):
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"""
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Sets the angular displacement vector applied by the actuator.
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Since the displacement is applied every frame, you must adjust the displacement
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based on the frame rate, or you game experience will depend on the player's computer
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speed.
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@type dx: float
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@param dx: the x component of the angular displacement vector.
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@type dy: float
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@param dy: the z component of the angular displacement vector.
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@type dz: float
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@param dz: the z component of the angular displacement vector.
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@type local: boolean
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@param local: - False: the angular displacement vector is applied in world coordinates.
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- True: the angular displacement vector is applied in local coordinates.
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"""
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def getLinearVelocity():
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"""
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Returns the linear velocity applied by the actuator.
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For the servo control actuator, this is the target speed.
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@rtype: list [vx, vy, vz, local]
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@return: A four item list, containing the vector velocity, and whether the velocity is applied in local coordinates (True) or world coordinates (False)
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"""
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def setLinearVelocity(vx, vy, vz, local):
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"""
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Sets the linear velocity applied by the actuator.
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For the servo control actuator, sets the target speed.
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@type vx: float
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@param vx: the x component of the velocity vector.
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@type vy: float
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@param vy: the z component of the velocity vector.
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@type vz: float
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@param vz: the z component of the velocity vector.
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@type local: boolean
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@param local: - False: the velocity vector is in world coordinates.
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- True: the velocity vector is in local coordinates.
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"""
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def getAngularVelocity():
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"""
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Returns the angular velocity applied by the actuator.
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@rtype: list [S{omega}x, S{omega}y, S{omega}z, local]
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@return: A four item list, containing the vector velocity, and whether
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the velocity is applied in local coordinates (True) or world
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coordinates (False)
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"""
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def setAngularVelocity(wx, wy, wz, local):
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"""
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Sets the angular velocity applied by the actuator.
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@type wx: float
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@param wx: the x component of the velocity vector.
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@type wy: float
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@param wy: the z component of the velocity vector.
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@type wz: float
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@param wz: the z component of the velocity vector.
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@type local: boolean
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@param local: - False: the velocity vector is applied in world coordinates.
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- True: the velocity vector is applied in local coordinates.
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"""
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def getDamping():
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"""
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Returns the damping parameter of the servo controller.
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@rtype: integer
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@return: the time constant of the servo controller in frame unit.
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"""
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def setDamping(damp):
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"""
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Sets the damping parameter of the servo controller.
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@type damp: integer
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@param damp: the damping parameter in frame unit.
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"""
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def getForceLimitX():
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"""
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Returns the min/max force limit along the X axis used by the servo controller.
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@rtype: list [min, max, enabled]
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@return: A three item list, containing the min and max limits of the force as float
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and whether the limits are active(true) or inactive(true)
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"""
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def setForceLimitX(min, max, enable):
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"""
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Sets the min/max force limit along the X axis and activates or deactivates the limits in the servo controller.
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@type min: float
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@param min: the minimum value of the force along the X axis.
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@type max: float
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@param max: the maximum value of the force along the X axis.
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@type enable: boolean
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@param enable: - True: the force will be limited to the min/max
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- False: the force will not be limited
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"""
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def getForceLimitY():
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"""
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Returns the min/max force limit along the Y axis used by the servo controller.
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@rtype: list [min, max, enabled]
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@return: A three item list, containing the min and max limits of the force as float
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and whether the limits are active(true) or inactive(true)
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"""
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def setForceLimitY(min, max, enable):
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"""
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Sets the min/max force limit along the Y axis and activates or deactivates the limits in the servo controller.
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@type min: float
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@param min: the minimum value of the force along the Y axis.
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@type max: float
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@param max: the maximum value of the force along the Y axis.
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@type enable: boolean
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@param enable: - True: the force will be limited to the min/max
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- False: the force will not be limited
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"""
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def getForceLimitZ():
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"""
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Returns the min/max force limit along the Z axis used by the servo controller.
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@rtype: list [min, max, enabled]
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@return: A three item list, containing the min and max limits of the force as float
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and whether the limits are active(true) or inactive(true)
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"""
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def setForceLimitZ(min, max, enable):
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"""
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Sets the min/max force limit along the Z axis and activates or deactivates the limits in the servo controller.
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@type min: float
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@param min: the minimum value of the force along the Z axis.
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@type max: float
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@param max: the maximum value of the force along the Z axis.
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@type enable: boolean
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@param enable: - True: the force will be limited to the min/max
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- False: the force will not be limited
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"""
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def getPID():
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"""
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Returns the PID coefficient of the servo controller.
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@rtype: list [P, I, D]
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@return: A three item list, containing the PID coefficient as floats:
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P : proportional coefficient
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I : Integral coefficient
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D : Derivate coefficient
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"""
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def setPID(P, I, D):
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"""
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Sets the PID coefficients of the servo controller.
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@type P: flat
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@param P: proportional coefficient
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@type I: float
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@param I: Integral coefficient
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@type D: float
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@param D: Derivate coefficient
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"""
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