UniversalServo Class Reference

PID Servo motor for universal joints. More...

#include <universalservo.h>

Collaboration diagram for UniversalServo:

[legend]List of all members.

Public Member Functions
	UniversalServo (UniversalJoint *joint, double min1, double max1, double power1, double min2, double max2, double power2)
	min and max values are understood as travel bounds.
void	set (double position1, double position2)
	sets the set point of the servo.
double	get1 ()
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
double	get2 ()
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
void	get (double &p1, double &p2)
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
void	setPower (double power1, double power2)
Private Attributes
PID	pid1
PID	pid2
double	min1
double	max1
double	min2
double	max2
UniversalJoint *	joint

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Detailed Description

PID Servo motor for universal joints.

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Constructor & Destructor Documentation

UniversalServo (  UniversalJoint *  joint, double  min1, double  max1, double  power1, double  min2, double  max2, double  power2 )

min and max values are understood as travel bounds. power is the power of the servo

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Member Function Documentation

void get (  double &  p1, double &  p2 )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max)

double get1 (   )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max)

double get2 (   )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max)

void set (  double  position1, double  position2 )

sets the set point of the servo. Position must be between -1 and 1. It is scaled to fit into min, max

void setPower (  double  power1, double  power2 )

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Member Data Documentation

UniversalJoint* joint [private]

double max1 [private]

double max2 [private]

double min1 [private]

double min2 [private]

PID pid1 [private]

PID pid2 [private]

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The documentation for this class was generated from the following files:

• universalservo.h
• universalservo.cpp

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