OneAxisServoVel Class Reference

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

#include <oneaxisservo.h>

Inherits OneAxisServo.

Inheritance diagram for OneAxisServoVel:

[legend]Collaboration diagram for OneAxisServoVel:

[legend]List of all members.

Public Member Functions
	OneAxisServoVel (const OdeHandle &odeHandle, OneAxisJoint *joint, double _min, double _max, double power, double damp=0.01, double maxVel=20, double jointLimit=1.3)
	min and max values are understood as travel bounds.
virtual	~OneAxisServoVel ()
virtual void	setPower (double power)
	adjusts the power of the servo
virtual double	getPower ()
	returns the power of the servo
virtual double &	offsetCanceling ()
	offetCanceling does not exist for this type of servo
virtual void	setMaxVel (double maxVel)
	adjusts maximal speed of servo
virtual double	getMaxVel ()
	adjusts maximal speed of servo
virtual void	set (double pos)
	sets the set point of the servo.
virtual double	get ()
	returns the position of the servo in ranges [-1, 1] (scaled by min, max, centered)
Protected Attributes
AngularMotor1Axis	motor
double	dummy

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Detailed Description

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

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Constructor & Destructor Documentation

OneAxisServoVel	(	const OdeHandle &	odeHandle,
		OneAxisJoint *	joint,
		double	_min,
		double	_max,
		double	power,
		double	damp = 0.01,
		double	maxVel = 20,
		double	jointLimit = 1.3
	)			[inline]

min and max values are understood as travel bounds.

The zero position is max-min/2

virtual ~OneAxisServoVel

(

)

[inline, virtual]

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Member Function Documentation

virtual double get

(

)

[inline, virtual]

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

Reimplemented from OneAxisServo.

virtual double getMaxVel

(

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented from OneAxisServo.

virtual double getPower

(

)

[inline, virtual]

returns the power of the servo

Reimplemented from OneAxisServo.

virtual double& offsetCanceling

(

)

[inline, virtual]

offetCanceling does not exist for this type of servo

Reimplemented from OneAxisServo.

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, however 0 is just in the center of min and max

Reimplemented from OneAxisServo.

virtual void setMaxVel

(

double

maxVel

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented from OneAxisServo.

virtual void setPower

(

double

power

)

[inline, virtual]

adjusts the power of the servo

Reimplemented from OneAxisServo.

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Member Data Documentation

double dummy [protected]

AngularMotor1Axis motor [protected]

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

• oneaxisservo.h

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