#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
import math
import numpy as np
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import (hillPoint, inertial3D, attTrackingError, mrpFeedback,
rwMotorTorque,
velocityPoint, mrpSteering, rateServoFullNonlinear,
sunSafePoint, cssWlsEst)
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.utilities import fswSetupRW
from Basilisk.utilities import deprecated
from Basilisk.utilities import macros as mc
[docs]class BSKFswModels:
"""Defines the bskSim FSW class"""
def __init__(self, SimBase, fswRate):
# define empty class variables
self.vcMsg = None
self.fswRwConfigMsg = None
self.cmdTorqueMsg = None
self.cmdTorqueDirectMsg = None
self.attRefMsg = None
self.attGuidMsg = None
self.cmdRwMotorMsg = None
# Define process name and default time-step for all FSW tasks defined later on
self.processName = SimBase.FSWProcessName
self.processTasksTimeStep = mc.sec2nano(fswRate)
# Create module data and module wraps
self.inertial3D = inertial3D.inertial3D()
self.inertial3D.ModelTag = "inertial3D"
self.hillPoint = hillPoint.hillPoint()
self.hillPoint.ModelTag = "hillPoint"
self.sunSafePoint = sunSafePoint.sunSafePoint()
self.sunSafePoint.ModelTag = "sunSafePoint"
self.velocityPoint = velocityPoint.velocityPoint()
self.velocityPoint.ModelTag = "velocityPoint"
self.cssWlsEst = cssWlsEst.cssWlsEst()
self.cssWlsEst.ModelTag = "cssWlsEst"
self.trackingError = attTrackingError.attTrackingError()
self.trackingError.ModelTag = "trackingError"
self.mrpFeedbackControl = mrpFeedback.mrpFeedback()
self.mrpFeedbackControl.ModelTag = "mrpFeedbackControl"
self.mrpFeedbackRWs = mrpFeedback.mrpFeedback()
self.mrpFeedbackRWs.ModelTag = "mrpFeedbackRWs"
self.mrpSteering = mrpSteering.mrpSteering()
self.mrpSteering.ModelTag = "MRP_Steering"
self.rateServo = rateServoFullNonlinear.rateServoFullNonlinear()
self.rateServo.ModelTag = "rate_servo"
self.rwMotorTorque = rwMotorTorque.rwMotorTorque()
self.rwMotorTorque.ModelTag = "rwMotorTorque"
# create the FSW module gateway messages
self.setupGatewayMsgs(SimBase)
# Initialize all modules
self.InitAllFSWObjects(SimBase)
# Create tasks
SimBase.fswProc.addTask(SimBase.CreateNewTask("inertial3DPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("hillPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("sunSafePointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("velocityPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpFeedbackTask", self.processTasksTimeStep), 10)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpSteeringRWsTask", self.processTasksTimeStep), 10)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpFeedbackRWsTask", self.processTasksTimeStep), 10)
# Assign initialized modules to tasks
SimBase.AddModelToTask("inertial3DPointTask", self.inertial3D, 10)
SimBase.AddModelToTask("inertial3DPointTask", self.trackingError, 9)
SimBase.AddModelToTask("hillPointTask", self.hillPoint, 10)
SimBase.AddModelToTask("hillPointTask", self.trackingError, 9)
SimBase.AddModelToTask("sunSafePointTask", self.cssWlsEst, 10)
SimBase.AddModelToTask("sunSafePointTask", self.sunSafePoint, 9)
SimBase.AddModelToTask("velocityPointTask", self.velocityPoint, 10)
SimBase.AddModelToTask("velocityPointTask", self.trackingError, 9)
SimBase.AddModelToTask("mrpFeedbackTask", self.mrpFeedbackControl, 10)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.mrpSteering, 10)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.rateServo, 9)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.rwMotorTorque, 8)
SimBase.AddModelToTask("mrpFeedbackRWsTask", self.mrpFeedbackRWs, 9)
SimBase.AddModelToTask("mrpFeedbackRWsTask", self.rwMotorTorque, 8)
# Create events to be called for triggering GN&C maneuvers
SimBase.fswProc.disableAllTasks()
SimBase.createNewEvent("initiateStandby", self.processTasksTimeStep, True,
["self.modeRequest == 'standby'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.setAllButCurrentEventActivity('initiateStandby', True)"
])
SimBase.createNewEvent("initiateAttitudeGuidance", self.processTasksTimeStep, True,
["self.modeRequest == 'inertial3D'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('inertial3DPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateAttitudeGuidance', True)"
])
SimBase.createNewEvent("initiateAttitudeGuidanceDirect", self.processTasksTimeStep, True,
["self.modeRequest == 'directInertial3D'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('inertial3DPointTask')",
"self.enableTask('mrpFeedbackTask')",
"self.setAllButCurrentEventActivity('initiateAttitudeGuidanceDirect', True)"
])
SimBase.createNewEvent("initiateHillPoint", self.processTasksTimeStep, True,
["self.modeRequest == 'hillPoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateHillPoint', True)"
])
SimBase.createNewEvent("initiateSunSafePoint", self.processTasksTimeStep, True,
["self.modeRequest == 'sunSafePoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('sunSafePointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.setAllButCurrentEventActivity('initiateSunSafePoint', True)"
])
SimBase.createNewEvent("initiateVelocityPoint", self.processTasksTimeStep, True,
["self.modeRequest == 'velocityPoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('velocityPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateVelocityPoint', True)"])
SimBase.createNewEvent("initiateSteeringRW", self.processTasksTimeStep, True,
["self.modeRequest == 'steeringRW'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.setAllButCurrentEventActivity('initiateSteeringRW', True)"])
# ------------------------------------------------------------------------------------------- #
# These are module-initialization methods
[docs] def SetInertial3DPointGuidance(self):
"""Define the inertial 3D guidance module"""
self.inertial3D.sigma_R0N = [0.2, 0.4, 0.6]
messaging.AttRefMsg_C_addAuthor(self.inertial3D.attRefOutMsg, self.attRefMsg)
[docs] def SetHillPointGuidance(self, SimBase):
"""Define the Hill pointing guidance module"""
self.hillPoint.transNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
self.hillPoint.celBodyInMsg.subscribeTo(SimBase.DynModels.EarthEphemObject.ephemOutMsgs[0]) # earth
messaging.AttRefMsg_C_addAuthor(self.hillPoint.attRefOutMsg, self.attRefMsg)
[docs] def SetSunSafePointGuidance(self, SimBase):
"""Define the sun safe pointing guidance module"""
self.sunSafePoint.imuInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.attOutMsg)
self.sunSafePoint.sunDirectionInMsg.subscribeTo(self.cssWlsEst.navStateOutMsg)
self.sunSafePoint.sHatBdyCmd = [0.0, 0.0, 1.0]
messaging.AttGuidMsg_C_addAuthor(self.sunSafePoint.attGuidanceOutMsg, self.attGuidMsg)
[docs] def SetVelocityPointGuidance(self, SimBase):
"""Define the velocity pointing guidance module"""
self.velocityPoint.transNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
self.velocityPoint.celBodyInMsg.subscribeTo(SimBase.DynModels.EarthEphemObject.ephemOutMsgs[0])
self.velocityPoint.mu = SimBase.DynModels.gravFactory.gravBodies['earth'].mu
messaging.AttRefMsg_C_addAuthor(self.velocityPoint.attRefOutMsg, self.attRefMsg)
[docs] def SetAttitudeTrackingError(self, SimBase):
"""Define the attitude tracking error module"""
self.trackingError.attNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.attOutMsg)
self.trackingError.attRefInMsg.subscribeTo(self.attRefMsg)
messaging.AttGuidMsg_C_addAuthor(self.trackingError.attGuidOutMsg, self.attGuidMsg)
[docs] def SetCSSWlsEst(self, SimBase):
"""Set the FSW CSS configuration information """
cssConfig = messaging.CSSConfigMsgPayload()
totalCSSList = []
nHat_B_vec = [
[0.0, 0.707107, 0.707107],
[0.707107, 0., 0.707107],
[0.0, -0.707107, 0.707107],
[-0.707107, 0., 0.707107],
[0.0, -0.965926, -0.258819],
[-0.707107, -0.353553, -0.612372],
[0., 0.258819, -0.965926],
[0.707107, -0.353553, -0.612372]
]
for CSSHat in nHat_B_vec:
CSSConfigElement = messaging.CSSUnitConfigMsgPayload()
CSSConfigElement.CBias = 1.0
CSSConfigElement.nHat_B = CSSHat
totalCSSList.append(CSSConfigElement)
cssConfig.cssVals = totalCSSList
cssConfig.nCSS = len(nHat_B_vec)
self.cssConfigMsg = messaging.CSSConfigMsg().write(cssConfig)
self.cssWlsEst.cssDataInMsg.subscribeTo(SimBase.DynModels.CSSConstellationObject.constellationOutMsg)
self.cssWlsEst.cssConfigInMsg.subscribeTo(self.cssConfigMsg)
[docs] def SetMRPFeedbackControl(self, SimBase):
"""Set the MRP feedback module configuration"""
self.mrpFeedbackControl.guidInMsg.subscribeTo(self.attGuidMsg)
self.mrpFeedbackControl.vehConfigInMsg.subscribeTo(self.vcMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.mrpFeedbackControl.cmdTorqueOutMsg, self.cmdTorqueDirectMsg)
self.mrpFeedbackControl.K = 3.5
self.mrpFeedbackControl.Ki = -1.0 # Note: make value negative to turn off integral feedback
self.mrpFeedbackControl.P = 30.0
self.mrpFeedbackControl.integralLimit = 2. / self.mrpFeedbackControl.Ki * 0.1
[docs] def SetMRPFeedbackRWA(self, SimBase):
"""Set the MRP feedback information if RWs are considered"""
self.mrpFeedbackRWs.K = 3.5
self.mrpFeedbackRWs.Ki = -1 # Note: make value negative to turn off integral feedback
self.mrpFeedbackRWs.P = 30.0
self.mrpFeedbackRWs.integralLimit = 2. / self.mrpFeedbackRWs.Ki * 0.1
self.mrpFeedbackRWs.vehConfigInMsg.subscribeTo(self.vcMsg)
self.mrpFeedbackRWs.rwSpeedsInMsg.subscribeTo(SimBase.DynModels.rwStateEffector.rwSpeedOutMsg)
self.mrpFeedbackRWs.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
self.mrpFeedbackRWs.guidInMsg.subscribeTo(self.attGuidMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.mrpFeedbackRWs.cmdTorqueOutMsg, self.cmdTorqueMsg)
[docs] def SetMRPSteering(self):
"""Set the MRP Steering module"""
self.mrpSteering.K1 = 0.05
self.mrpSteering.ignoreOuterLoopFeedforward = False
self.mrpSteering.K3 = 0.75
self.mrpSteering.omega_max = 1.0 * mc.D2R
self.mrpSteering.guidInMsg.subscribeTo(self.attGuidMsg)
[docs] def SetRateServo(self, SimBase):
"""Set the rate servo module"""
self.rateServo.guidInMsg.subscribeTo(self.attGuidMsg)
self.rateServo.vehConfigInMsg.subscribeTo(self.vcMsg)
self.rateServo.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
self.rateServo.rwSpeedsInMsg.subscribeTo(SimBase.DynModels.rwStateEffector.rwSpeedOutMsg)
self.rateServo.rateSteeringInMsg.subscribeTo(self.mrpSteering.rateCmdOutMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.rateServo.cmdTorqueOutMsg, self.cmdTorqueMsg)
self.rateServo.Ki = 5.0
self.rateServo.P = 150.0
self.rateServo.integralLimit = 2. / self.rateServo.Ki * 0.1
self.rateServo.knownTorquePntB_B = [0., 0., 0.]
[docs] def SetVehicleConfiguration(self):
"""Set the spacecraft configuration information"""
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
# use the same inertia in the FSW algorithm as in the simulation
vehicleConfigOut.ISCPntB_B = [900.0, 0.0, 0.0, 0.0, 800.0, 0.0, 0.0, 0.0, 600.0]
self.vcMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
[docs] def SetRWConfigMsg(self):
"""Set the RW device information"""
# Configure RW pyramid exactly as it is in the Dynamics (i.e. FSW with perfect knowledge)
rwElAngle = np.array([40.0, 40.0, 40.0, 40.0]) * mc.D2R
rwAzimuthAngle = np.array([45.0, 135.0, 225.0, 315.0]) * mc.D2R
wheelJs = 50.0 / (6000.0 * math.pi * 2.0 / 60)
fswSetupRW.clearSetup()
for elAngle, azAngle in zip(rwElAngle, rwAzimuthAngle):
gsHat = (rbk.Mi(-azAngle, 3).dot(rbk.Mi(elAngle, 2))).dot(np.array([1, 0, 0]))
fswSetupRW.create(gsHat, # spin axis
wheelJs, # kg*m^2
0.2) # Nm uMax
self.fswRwConfigMsg = fswSetupRW.writeConfigMessage()
[docs] def SetRWMotorTorque(self):
"""Set the RW motor torque information"""
controlAxes_B = [
1.0, 0.0, 0.0
, 0.0, 1.0, 0.0
, 0.0, 0.0, 1.0
]
self.rwMotorTorque.controlAxes_B = controlAxes_B
self.rwMotorTorque.vehControlInMsg.subscribeTo(self.cmdTorqueMsg)
messaging.ArrayMotorTorqueMsg_C_addAuthor(self.rwMotorTorque.rwMotorTorqueOutMsg, self.cmdRwMotorMsg)
self.rwMotorTorque.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
# Global call to initialize every module
[docs] def InitAllFSWObjects(self, SimBase):
"""Initialize all the FSW objects"""
# note that the order in which these routines are called is important.
# To subscribe to a message that message must already exit.
self.SetVehicleConfiguration()
self.SetRWConfigMsg()
self.SetInertial3DPointGuidance()
self.SetHillPointGuidance(SimBase)
self.SetCSSWlsEst(SimBase)
self.SetSunSafePointGuidance(SimBase)
self.SetVelocityPointGuidance(SimBase)
self.SetAttitudeTrackingError(SimBase)
self.SetMRPFeedbackControl(SimBase)
self.SetMRPFeedbackRWA(SimBase)
self.SetMRPSteering()
self.SetRateServo(SimBase)
self.SetRWMotorTorque()
[docs] def setupGatewayMsgs(self, SimBase):
"""create C-wrapped gateway messages such that different modules can write to this message
and provide a common input msg for down-stream modules"""
self.cmdTorqueMsg = messaging.CmdTorqueBodyMsg_C()
self.cmdTorqueDirectMsg = messaging.CmdTorqueBodyMsg_C()
self.attRefMsg = messaging.AttRefMsg_C()
self.attGuidMsg = messaging.AttGuidMsg_C()
self.cmdRwMotorMsg = messaging.ArrayMotorTorqueMsg_C()
self.zeroGateWayMsgs()
# connect gateway FSW effector command msgs with the dynamics
SimBase.DynModels.extForceTorqueObject.cmdTorqueInMsg.subscribeTo(self.cmdTorqueDirectMsg)
SimBase.DynModels.rwStateEffector.rwMotorCmdInMsg.subscribeTo(self.cmdRwMotorMsg)
[docs] def zeroGateWayMsgs(self):
"""Zero all the FSW gateway message payloads"""
self.cmdTorqueMsg.write(messaging.CmdTorqueBodyMsgPayload())
self.cmdTorqueDirectMsg.write(messaging.CmdTorqueBodyMsgPayload())
self.attRefMsg.write(messaging.AttRefMsgPayload())
self.attGuidMsg.write(messaging.AttGuidMsgPayload())
self.cmdRwMotorMsg.write(messaging.ArrayMotorTorqueMsgPayload())
@property
def inertial3DData(self):
return self.inertial3D
inertial3DData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to inertial3DData as inertial3D",
inertial3DData)
@property
def inertial3DWrap(self):
return self.inertial3D
inertial3DWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to inertial3DWrap as inertial3D",
inertial3DWrap)
@property
def hillPointData(self):
return self.hillPoint
hillPointData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to hillPointData as hillPoint",
hillPointData)
@property
def hillPointWrap(self):
return self.hillPoint
hillPointWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to hillPointWrap as hillPoint",
hillPointWrap)
@property
def sunSafePointData(self):
return self.sunSafePoint
sunSafePointData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to sunSafePointData as sunSafePoint",
sunSafePointData)
@property
def sunSafePointWrap(self):
return self.sunSafePoint
sunSafePointWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to sunSafePointWrap as sunSafePoint",
sunSafePointWrap)
@property
def velocityPointData(self):
return self.velocityPoint
velocityPointData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to velocityPointData as velocityPoint",
velocityPointData)
@property
def velocityPointWrap(self):
return self.velocityPoint
velocityPointWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to velocityPointWrap as velocityPoint",
velocityPointWrap)
@property
def cssWlsEstData(self):
return self.cssWlsEst
cssWlsEstData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to cssWlsEstData as cssWlsEst",
cssWlsEstData)
@property
def cssWlsEstWrap(self):
return self.cssWlsEst
cssWlsEstWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to cssWlsEstWrap as cssWlsEst",
cssWlsEstWrap)
@property
def trackingErrorData(self):
return self.trackingError
trackingErrorData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to trackingErrorData as trackingError",
trackingErrorData)
@property
def trackingErrorWrap(self):
return self.trackingError
trackingErrorWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to trackingErrorWrap as trackingError",
trackingErrorWrap)
@property
def mrpFeedbackControlData(self):
return self.mrpFeedbackControl
mrpFeedbackControlData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpFeedbackControlData as mrpFeedbackControl",
mrpFeedbackControlData)
@property
def mrpFeedbackControlWrap(self):
return self.mrpFeedbackControl
mrpFeedbackControlWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpFeedbackControlWrap as mrpFeedbackControl",
mrpFeedbackControlWrap)
@property
def mrpFeedbackRWsData(self):
return self.mrpFeedbackRWs
mrpFeedbackRWsData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpFeedbackRWsData as mrpFeedbackRWs",
mrpFeedbackRWsData)
@property
def mrpFeedbackRWsWrap(self):
return self.mrpFeedbackRWs
mrpFeedbackRWsWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpFeedbackRWsWrap as mrpFeedbackRWs",
mrpFeedbackRWsWrap)
@property
def mrpSteeringData(self):
return self.mrpSteering
mrpSteeringData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpSteeringData as mrpSteering",
mrpSteeringData)
@property
def mrpSteeringWrap(self):
return self.mrpSteering
mrpSteeringWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to mrpSteeringWrap as mrpSteering",
mrpSteeringWrap)
@property
def rateServoData(self):
return self.rateServo
rateServoData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to rateServoData as rateServo",
rateServoData)
@property
def rateServoWrap(self):
return self.rateServo
rateServoWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to rateServoWrap as rateServo",
rateServoWrap)
@property
def rwMotorTorqueData(self):
return self.rwMotorTorque
rwMotorTorqueData = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to rwMotorTorqueData as rwMotorTorque",
rwMotorTorqueData)
@property
def rwMotorTorqueWrap(self):
return self.rwMotorTorque
rwMotorTorqueWrap = deprecated.DeprecatedProperty(
"2024/07/30",
"Due to the new C module syntax, refer to rwMotorTorqueWrap as rwMotorTorque",
rwMotorTorqueWrap)