OneAxisServo Class Reference

general servo motor to achieve position control More...

#include <oneaxisservo.h>

Inherited by OneAxisServoCentered, and OneAxisServoVel.

Inheritance diagram for OneAxisServo:

[legend]Collaboration diagram for OneAxisServo:

[legend]List of all members.

Public Member Functions
	OneAxisServo (OneAxisJoint *joint, double _min, double _max, double power, 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.
virtual	~OneAxisServo ()
virtual void	set (double pos)
	sets the set point of the servo.
virtual double	get ()
	returns the position of the slider in ranges [-1, 1] (scaled by min, max)
virtual void	setMinMax (double _min, double _max)
virtual void	setPower (double power)
	adjusts the power of the servo
virtual double	getPower ()
	returns the power of the servo
virtual double &	damping ()
	returns the damping of the servo
virtual double &	offsetCanceling ()
	returns the damping of the servo
virtual void	setMaxVel (double maxVel)
	adjusts maximal speed of servo
virtual double	getMaxVel ()
	adjusts maximal speed of servo
Protected Attributes
OneAxisJoint *	joint
double	min
double	max
PID	pid
double	maxVel
double	jointLimit
	joint limit with respect to servo limit

---

Detailed Description

general servo motor to achieve position control

---

Constructor & Destructor Documentation

OneAxisServo	(	OneAxisJoint *	joint,
		double	_min,
		double	_max,
		double	power,
		double	damp = 0.2,
		double	integration = 2,
		double	maxVel = 10.0,
		double	jointLimit = 1.3,
		bool	minmaxCheck = true
	)			[inline]

min and max values are understood as travel bounds.

Min should be less than 0.

virtual ~OneAxisServo

(

)

[inline, virtual]

---

Member Function Documentation

virtual double& damping

(

)

[inline, virtual]

returns the damping of the servo

virtual double get

(

)

[inline, virtual]

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

Reimplemented in OneAxisServoCentered, and OneAxisServoVel.

virtual double getMaxVel

(

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented in OneAxisServoVel.

virtual double getPower

(

)

[inline, virtual]

returns the power of the servo

Reimplemented in OneAxisServoVel.

virtual double& offsetCanceling

(

)

[inline, virtual]

returns the damping of the servo

Reimplemented in OneAxisServoVel.

virtual void set

(

double

pos

)

[inline, 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 OneAxisServoCentered, and OneAxisServoVel.

virtual void setMaxVel

(

double

maxVel

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented in OneAxisServoVel.

virtual void setMinMax	(	double	_min,
		double	_max
	)			[inline, virtual]

virtual void setPower

(

double

power

)

[inline, virtual]

adjusts the power of the servo

Reimplemented in OneAxisServoVel.

---

Member Data Documentation

OneAxisJoint* joint [protected]

double jointLimit [protected]

joint limit with respect to servo limit

double max [protected]

double maxVel [protected]

double min [protected]

PID pid [protected]

---

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

• oneaxisservo.h

---