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TwoAxisServoCentered Class Reference

general servo motor for 2 axis joints with zero position centered More...

#include <twoaxisservo.h>

Inheritance diagram for TwoAxisServoCentered:
Collaboration diagram for TwoAxisServoCentered:

Public Member Functions

 TwoAxisServoCentered (TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, double damp=0.2, double integration=2, double maxVel=10.0, double jointLimit=1.3)
 min and max values are understood as travel bounds. More...
 
virtual ~TwoAxisServoCentered ()
 
virtual void set (double pos1, double pos2) override
 sets the set point of the servo. More...
 
virtual double get1 () const override
 returns the position of the servo (joint) of 1. More...
 
virtual double get2 () const override
 returns the position of the servo (joint) of 2. More...
 
- Public Member Functions inherited from TwoAxisServo
 TwoAxisServo (TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, double damp=0.2, double integration=2, double maxVel=10.0, double jointLimit=1.3, bool minmaxCheck=true)
 min and max values are understood as travel bounds. More...
 
virtual ~TwoAxisServo ()
 
void get (double &p1, double &p2) const
 returns the positions of the joint in ranges [-1, 1] (scaled by min, max) More...
 
virtual void init (Primitive *own, Joint *joint=0) override
 initialises motor with body of robot More...
 
virtual bool sense (const GlobalData &globaldata) override
 performs sense action More...
 
virtual int getSensorNumber () const override
 returns the number of sensors values produced by this sensor More...
 
virtual std::list< sensorgetList () const
 returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...
 
virtual int get (sensor *sensors, int length) const
 writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. More...
 
virtual int getMotorNumber () const override
 return the dimensionality of this motor More...
 
virtual bool act (GlobalData &globaldata) override
 performs the actions, This is usually called in doInternalStuff() from the robot More...
 
virtual int set (const motor *values, int length) override
 sends the action commands to the motor. More...
 
virtual void setPower (double power1, double power2)
 adjusts the power of the servo More...
 
virtual void setPower1 (double power1)
 returns the power of the servo More...
 
virtual void setPower2 (double power2)
 returns the power of the servo More...
 
virtual double getPower1 ()
 returns the power of the servo More...
 
virtual double getPower2 ()
 returns the power of the servo More...
 
virtual double getDamping1 ()
 returns the damping of the servo (axis 1) More...
 
virtual double getDamping2 ()
 returns the damping of the servo (axis 2) More...
 
virtual TwoAxisJointgetJoint ()
 
virtual void setDamping1 (double damp)
 sets the damping of the servo (axis 1) More...
 
virtual void setDamping2 (double damp)
 sets the damping of the servo (axis 1) More...
 
virtual void setDamping (double _damp)
 sets the damping of the servo (both axis) More...
 
virtual double & offsetCanceling ()
 returns the damping of the servo More...
 
virtual void setMinMax1 (double _min, double _max)
 
virtual void setMinMax2 (double _min, double _max)
 
virtual void setMaxVel (double maxVel)
 adjusts maximal speed of servo More...
 
virtual double getMaxVel ()
 adjusts maximal speed of servo More...
 
- Public Member Functions inherited from Sensor
 Sensor ()
 
virtual ~Sensor ()
 
virtual std::list
< SensorMotorInfo
getSensorInfos () const
 returns a list of sensor infos ( More...
 
virtual void update ()
 to update any visual appearance More...
 
std::list< sensorgetListOfArray () const
 helper function for performance implementation of list<> get() based on array-get More...
 
- Public Member Functions inherited from SensorMotorInfoAble
 SensorMotorInfoAble ()
 
void setBaseName (const std::string &basename)
 
void setBaseInfo (const SensorMotorInfo &baseinfo)
 
SensorMotorInfo getBaseInfo ()
 
void setNamingFunc (const NamingFunction &func)
 
NamingFunction getNamingFunc () const
 
void setNames (const std::vector< std::string > &names)
 set names explicitly (basename is anyway suffixed) More...
 
std::string getName (int index) const
 returns the name of a single item. Typically called from within Sensor and Motor class. More...
 
std::list< SensorMotorInfogetInfos (int number) const
 get all infos. More...
 
- Public Member Functions inherited from Motor
 Motor ()
 
virtual ~Motor ()
 
virtual std::list
< SensorMotorInfo
getMotorInfos () const
 returns a list of motor names ( More...
 

Additional Inherited Members

- Public Types inherited from Sensor
enum  Dimensions {
  X = 1, Y = 2, Z = 4, XY = X | Y,
  XZ = X | Z, YZ = Y | Z, XYZ = X | Y | Z
}
 defines which dimensions should be sensed. The meaning is sensor specific. More...
 
- Public Types inherited from SensorMotorInfoAble
typedef std::function
< std::string(int)> 
NamingFunction
 function that returns the name given the index More...
 
- Static Public Member Functions inherited from Sensor
static std::list< sensorselectrows (const matrix::Matrix &m, short dimensions)
 selects the rows specified by dimensions (X->0, Y->1, Z->2) More...
 
static int selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
 selects the rows specified by dimensions (X->0, Y->1, Z->2) More...
 
static Dimensions parseSensorDimension (char *str)
 
static std::string dimensions2String (short dimensions)
 
- Static Public Member Functions inherited from SensorMotorInfoAble
static std::string defaultNameing (int index)
 the default implementation is for index==0: basename, otherwise basename + (index+1) More...
 
- Protected Attributes inherited from TwoAxisServo
TwoAxisJointjoint
 
double min1
 
double max1
 
double min2
 
double max2
 
PID pid1
 
PID pid2
 
double maxVel
 
double jointLimit
 
- Protected Attributes inherited from SensorMotorInfoAble
NamingFunction func
 
SensorMotorInfo baseinfo
 

Detailed Description

general servo motor for 2 axis joints with zero position centered

Constructor & Destructor Documentation

TwoAxisServoCentered ( TwoAxisJoint joint,
double  _min1,
double  _max1,
double  power1,
double  _min2,
double  _max2,
double  power2,
double  damp = 0.2,
double  integration = 2,
double  maxVel = 10.0,
double  jointLimit = 1.3 
)

min and max values are understood as travel bounds.

The zero position is (max-min)/2

~TwoAxisServoCentered ( )
virtual

Member Function Documentation

virtual double get1 ( ) const
inlineoverridevirtual

returns the position of the servo (joint) of 1.

axis in ranges [-1, 1] (scaled by min1, max1, centered)

Reimplemented from TwoAxisServo.

virtual double get2 ( ) const
inlineoverridevirtual

returns the position of the servo (joint) of 2.

axis in ranges [-1, 1] (scaled by min2, max2, centered)

Reimplemented from TwoAxisServo.

void set ( double  pos1,
double  pos2 
)
overridevirtual

sets the set point of the servo.

Position must be between -1 and 1. It is scaled to fit into min, max, however 0 is just in the center of min and max

Reimplemented from TwoAxisServo.

Reimplemented in TwoAxisServoVel.


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