HingeServo Class Reference

PID Servo motor for hinge joints. More...

#include <hingeservo.h>

Collaboration diagram for HingeServo:

[legend]List of all members.

Public Member Functions
	HingeServo (HingeJoint *joint, double min, double max, double power)
	min and max values are understood as travel bounds.
void	set (double position)
	sets the set point of the servo.
double	get ()
	returns the position of the slider in ranges [-1, 1] (scaled by min, max)
void	setPower (double power)
Private Attributes
PID	pid
double	min
double	max
HingeJoint *	joint

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Detailed Description

PID Servo motor for hinge joints.

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Constructor & Destructor Documentation

HingeServo (  HingeJoint *  joint, double  min, double  max, double  power )

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

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Member Function Documentation

double get (   )

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

void set (  double  position  )

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  power  )

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Member Data Documentation

HingeJoint* joint [private]

double max [private]

double min [private]

PID pid [private]

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

• hingeservo.h
• hingeservo.cpp

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