raccoon_transport.channels
==========================

.. py:module:: raccoon_transport.channels

.. autoapi-nested-parse::

   Channel-name helpers shared by the Python transport implementation.



Classes
-------

.. autoapisummary::

   raccoon_transport.channels.Channels
   raccoon_transport.channels.ProtocolChannels


Module Contents
---------------

.. py:class:: Channels

   Stable application-level channel names used by the Python transport.


   .. py:attribute:: GYRO
      :value: 'libstp/gyro/value'



   .. py:attribute:: ACCELEROMETER
      :value: 'libstp/accel/value'



   .. py:attribute:: LINEAR_ACCELERATION
      :value: 'libstp/linear_accel/value'



   .. py:attribute:: ACCEL_VELOCITY
      :value: 'libstp/accel_velocity/value'



   .. py:attribute:: MAGNETOMETER
      :value: 'libstp/mag/value'



   .. py:attribute:: ORIENTATION
      :value: 'libstp/imu/quaternion'



   .. py:attribute:: HEADING
      :value: 'libstp/imu/heading'



   .. py:attribute:: TEMPERATURE
      :value: 'libstp/imu/temp/value'



   .. py:attribute:: BATTERY_VOLTAGE
      :value: 'libstp/battery/voltage'



   .. py:attribute:: GYRO_ACCURACY
      :value: 'libstp/gyro/accuracy'



   .. py:attribute:: ACCEL_ACCURACY
      :value: 'libstp/accel/accuracy'



   .. py:attribute:: COMPASS_ACCURACY
      :value: 'libstp/mag/accuracy'



   .. py:attribute:: QUATERNION_ACCURACY
      :value: 'libstp/imu/quaternion_accuracy'



   .. py:attribute:: CPU_TEMPERATURE
      :value: 'libstp/cpu/temp/value'



   .. py:attribute:: IMU_GYRO_ORIENTATION_CMD
      :value: 'libstp/imu/gyro_orientation_cmd'



   .. py:attribute:: IMU_COMPASS_ORIENTATION_CMD
      :value: 'libstp/imu/compass_orientation_cmd'



   .. py:attribute:: AXIS_REMAP_CMD
      :value: 'libstp/imu/axis_remap_cmd'



   .. py:attribute:: BEMF_NOMINAL_VOLTAGE_CMD
      :value: 'libstp/bemf/nominal_voltage_cmd'



   .. py:attribute:: ERROR_MESSAGES
      :value: 'libstp/errors'



   .. py:attribute:: SHUTDOWN_CMD
      :value: 'libstp/system/shutdown_cmd'



   .. py:attribute:: SHUTDOWN_STATUS
      :value: 'libstp/system/shutdown_status'



   .. py:method:: servo_mode(port: int) -> str
      :staticmethod:



   .. py:method:: servo_position(port: int) -> str
      :staticmethod:



   .. py:method:: servo_position_command(port: int) -> str
      :staticmethod:



   .. py:method:: back_emf(port: int) -> str
      :staticmethod:



   .. py:method:: bemf_scale_command(port: int) -> str
      :staticmethod:



   .. py:method:: bemf_offset_command(port: int) -> str
      :staticmethod:



   .. py:method:: analog(port: int) -> str
      :staticmethod:



   .. py:method:: digital(bit: int) -> str
      :staticmethod:



   .. py:method:: motor_power_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_mode_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_stop_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_velocity_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_position_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_pid_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_position_reset_command(port: int) -> str
      :staticmethod:



   .. py:method:: motor_power(port: int) -> str
      :staticmethod:



   .. py:method:: motor_position(port: int) -> str
      :staticmethod:



   .. py:method:: motor_done(port: int) -> str
      :staticmethod:



.. py:class:: ProtocolChannels

   Internal protocol channels used for reliable and retained delivery.


   .. py:attribute:: ACK
      :value: '__raccoon/ack'



   .. py:attribute:: RETAIN_REQUEST
      :value: '__raccoon/retain_request'



   .. py:method:: reliable_channel(channel: str) -> str
      :staticmethod:


      Return the wrapped channel name used by the reliability layer.