general servo motor for 2 axis joints More...

#include <twoaxisservo.h>

Inheritance diagram for TwoAxisServo:

Collaboration diagram for TwoAxisServo:

Public Member Functions
	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 ()

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

virtual double	get1 () const
	returns the position of the servo (joint) of 1. More...

virtual double	get2 () const
	returns the position of the servo (joint) of 2. More...

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< 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 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 TwoAxisJoint *	getJoint ()

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< 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
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 for 2 axis joints

Constructor & Destructor Documentation

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.

Min should be less than 0.

~TwoAxisServo ( )

virtual

Member Function Documentation

virtual bool act ( GlobalData & globaldata )

inlineoverridevirtual

performs the actions, This is usually called in doInternalStuff() from the robot

Implements Motor.

void get	(	double &	p1,
		double &	p2
	)		const

inline

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

virtual int get	(	sensor *	sensors,
		int	length
	)		const

inlinevirtual

writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only if performance matters overwrite this function.

Parameters

sensors	call by refernce array which received the values
length	capacity of sensors array

Returns: number of sensor values written

Reimplemented from Sensor.

virtual double get1 ( ) const

inlinevirtual

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

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

Reimplemented in TwoAxisServoCentered.

virtual double get2 ( ) const

inlinevirtual

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

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

Reimplemented in TwoAxisServoCentered.

virtual double getDamping1 ( )

inlinevirtual

returns the damping of the servo (axis 1)

Reimplemented in TwoAxisServoVel.

virtual double getDamping2 ( )

inlinevirtual

returns the damping of the servo (axis 2)

Reimplemented in TwoAxisServoVel.

virtual TwoAxisJoint* getJoint ( )

inlinevirtual

virtual std::list<sensor> getList ( ) const

inlinevirtual

returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded.

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

virtual double getMaxVel ( )

inlinevirtual

adjusts maximal speed of servo

Reimplemented in TwoAxisServoVel.

virtual int getMotorNumber ( ) const

inlineoverridevirtual

return the dimensionality of this motor

Implements Motor.

virtual double getPower1 ( )

inlinevirtual

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual double getPower2 ( )

inlinevirtual

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual int getSensorNumber ( ) const

inlineoverridevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

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

inlineoverridevirtual

initialises motor with body of robot

Implements Motor.

Reimplemented in TwoAxisServoVel.

virtual double& offsetCanceling ( )

inlinevirtual

returns the damping of the servo

Reimplemented in TwoAxisServoVel.

virtual bool sense ( const GlobalData & globaldata )

inlineoverridevirtual

performs sense action

Implements Sensor.

void set	(	double	pos1,
		double	pos2
	)

virtual

sets the set point of the servo.

Position must be between -1 and 1. It is scaled to fit into min, max

Reimplemented in TwoAxisServoVel, and TwoAxisServoCentered.

virtual int set	(	const motor *	values,
		int	length
	)

inlineoverridevirtual

sends the action commands to the motor.

It returns the number of used values. (should be equal to getMotorNumber)

Implements Motor.

virtual void setDamping ( double _damp )

inlinevirtual

sets the damping of the servo (both axis)

virtual void setDamping1 ( double damp )

inlinevirtual

sets the damping of the servo (axis 1)

Reimplemented in TwoAxisServoVel.

virtual void setDamping2 ( double damp )

inlinevirtual

sets the damping of the servo (axis 1)

Reimplemented in TwoAxisServoVel.

virtual void setMaxVel ( double maxVel )

inlinevirtual

adjusts maximal speed of servo

Reimplemented in TwoAxisServoVel.

virtual void setMinMax1	(	double	_min,
		double	_max
	)

inlinevirtual

virtual void setMinMax2	(	double	_min,
		double	_max
	)

inlinevirtual

virtual void setPower	(	double	power1,
		double	power2
	)

inlinevirtual

adjusts the power of the servo

Reimplemented in TwoAxisServoVel.

virtual void setPower1 ( double power1 )

inlinevirtual

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual void setPower2 ( double power2 )

inlinevirtual

returns the power of the servo

Reimplemented in TwoAxisServoVel.

Member Data Documentation

TwoAxisJoint* joint

protected

double jointLimit

protected

double max1

protected

double max2

protected

double maxVel

protected

double min1

protected

double min2

protected

PID pid1

protected

PID pid2

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