general servo motor to achieve position control for 2 axis joints that internally controls the velocity of the motor (much more stable) with centered zero position. More...

#include <twoaxisservo.h>

Inheritance diagram for TwoAxisServoVel:

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Collaboration diagram for TwoAxisServoVel:

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Public Member Functions
	TwoAxisServoVel (const OdeHandle &odeHandle, TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, double damp=0.05, double maxVel=10.0, double jointLimit=1.3)
	min and max values are understood as travel bounds. More...

virtual	~TwoAxisServoVel ()

virtual void	init (Primitive own, Joint joint=0) override
	initialises motor with body of robot More...

virtual void	setPower (double _power1, double _power2) override
	adjusts the power of the servo More...

virtual void	setPower1 (double _power1) override
	returns the power of the servo More...

virtual void	setPower2 (double _power2) override
	returns the power of the servo More...

virtual double	getPower1 () override
	returns the power of the servo More...

virtual double	getPower2 () override
	returns the power of the servo More...

virtual double	getDamping1 () override
	returns the damping of the servo (axis 1) More...

virtual double	getDamping2 () override
	returns the damping of the servo (axis 2) More...

virtual void	setDamping1 (double _damp) override
	sets the damping of the servo (axis 1) More...

virtual void	setDamping2 (double _damp) override
	sets the damping of the servo (axis 1) More...

virtual double &	offsetCanceling () override
	offetCanceling does not exist for this type of servo More...

virtual void	setMaxVel (double maxVel) override
	adjusts maximal speed of servo More...

virtual double	getMaxVel () override
	adjusts maximal speed of servo More...

virtual void	set (double pos1, double pos2) override
	sets the set point of the servo. More...

Public Member Functions inherited from TwoAxisServoCentered
	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 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 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< sensor >	getList () 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 TwoAxisJoint *	getJoint ()

virtual void	setDamping (double _damp)
	sets the damping of the servo (both axis) More...

virtual void	setMinMax1 (double _min, double _max)

virtual void	setMinMax2 (double _min, double _max)

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< sensor >	getListOfArray () 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< SensorMotorInfo >	getInfos (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...

Protected Attributes
AngularMotor2Axis	motor

double	dummy

double	damp

double	power1

double	power2

Protected Attributes inherited from TwoAxisServo
TwoAxisJoint *	joint

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

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< sensor >	selectrows (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...

Detailed Description

general servo motor to achieve position control for 2 axis joints that internally controls the velocity of the motor (much more stable) with centered zero position.

The amount of body feeling can be adjusted by the damping parameter which is understood as a stiffness parameter

Constructor & Destructor Documentation

TwoAxisServoVel	(	const OdeHandle &	odeHandle,
		TwoAxisJoint *	joint,
		double	_min1,
		double	_max1,
		double	power1,
		double	_min2,
		double	_max2,
		double	power2,
		double	damp = `0.05`,
		double	maxVel = `10.0`,
		double	jointLimit = `1.3`
	)

min and max values are understood as travel bounds.

The zero position is (max-min)/2

Parameters

power	is the maximal torque the servo can generate
maxVel	is understood as a speed parameter of the servo.
damp	adjusts the power of the servo in dependence of the distance to the set point. This regulates the stiffness and the body feeling 0: the servo has no power at the set point (maximal body feeling); 1: is servo has full power at the set point: perfectly damped and stiff.

~TwoAxisServoVel ( )

virtual

Member Function Documentation

virtual double getDamping1 ( )

inlineoverridevirtual

returns the damping of the servo (axis 1)

Reimplemented from TwoAxisServo.

virtual double getDamping2 ( )

inlineoverridevirtual

returns the damping of the servo (axis 2)

Reimplemented from TwoAxisServo.

virtual double getMaxVel ( )

inlineoverridevirtual

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

virtual double getPower1 ( )

inlineoverridevirtual

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual double getPower2 ( )

inlineoverridevirtual

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

inlineoverridevirtual

initialises motor with body of robot

Reimplemented from TwoAxisServo.

virtual double& offsetCanceling ( )

inlineoverridevirtual

offetCanceling does not exist for this type of servo

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 TwoAxisServoCentered.

virtual void setDamping1 ( double damp )

inlineoverridevirtual

sets the damping of the servo (axis 1)

Reimplemented from TwoAxisServo.

virtual void setDamping2 ( double damp )

inlineoverridevirtual

sets the damping of the servo (axis 1)

Reimplemented from TwoAxisServo.

virtual void setMaxVel ( double maxVel )

inlineoverridevirtual

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

void setPower	(	double	power1,
		double	power2
	)

overridevirtual

adjusts the power of the servo

Reimplemented from TwoAxisServo.

void setPower1 ( double power1 )

overridevirtual

returns the power of the servo

Reimplemented from TwoAxisServo.

void setPower2 ( double power2 )

overridevirtual

returns the power of the servo

Reimplemented from TwoAxisServo.

Member Data Documentation

double damp

protected

double dummy

protected

AngularMotor2Axis motor

protected

double power1

protected

double power2

protected

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation