TwoAxisServo Class Reference

general servo motor for 2 axis joints More...

#include <twoaxisservo.h>

Inherited by TwoAxisServoCentered.

Inheritance diagram for TwoAxisServo:

[legend]Collaboration diagram for TwoAxisServo:

[legend]List of all members.

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.
virtual	~TwoAxisServo ()
virtual void	set (double pos1, double pos2)
	sets the set point of the servo.
virtual double	get1 ()
	returns the position of the servo (joint) of 1.
virtual double	get2 ()
	returns the position of the servo (joint) of 2.
void	get (double &p1, double &p2)
	returns the positions of the joint in ranges [-1, 1] (scaled by min, max)
virtual void	setPower (double power1, double power2)
	adjusts the power of the servo
virtual void	setPower1 (double power1)
	returns the power of the servo
virtual void	setPower2 (double power2)
	returns the power of the servo
virtual double	getPower1 ()
	returns the power of the servo
virtual double	getPower2 ()
	returns the power of the servo
virtual double &	damping1 ()
	returns the damping of the servo
virtual double &	damping2 ()
	returns the damping of the servo
virtual double &	offsetCanceling ()
	returns the damping of the servo
virtual void	setMinMax1 (double _min, double _max)
virtual void	setMinMax2 (double _min, double _max)
virtual void	setMaxVel (double maxVel)
	adjusts maximal speed of servo
virtual double	getMaxVel ()
	adjusts maximal speed of servo
Protected Attributes
TwoAxisJoint *	joint
double	min1
double	max1
double	min2
double	max2
PID	pid1
PID	pid2
double	maxVel
double	jointLimit

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Detailed Description

general servo motor for 2 axis joints

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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
	)			[inline]

min and max values are understood as travel bounds.

Min should be less than 0.

virtual ~TwoAxisServo

(

)

[inline, virtual]

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Member Function Documentation

virtual double& damping1

(

)

[inline, virtual]

returns the damping of the servo

virtual double& damping2

(

)

[inline, virtual]

returns the damping of the servo

void get	(	double &	p1,
		double &	p2
	)			[inline]

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

virtual double get1

(

)

[inline, virtual]

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

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

Reimplemented in TwoAxisServoCentered.

virtual double get2

(

)

[inline, virtual]

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

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

Reimplemented in TwoAxisServoCentered.

virtual double getMaxVel

(

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented in TwoAxisServoVel.

virtual double getPower1

(

)

[inline, virtual]

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual double getPower2

(

)

[inline, virtual]

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual double& offsetCanceling

(

)

[inline, virtual]

returns the damping of the servo

Reimplemented in TwoAxisServoVel.

virtual void set	(	double	pos1,
		double	pos2
	)			[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 TwoAxisServoCentered, and TwoAxisServoVel.

virtual void setMaxVel

(

double

maxVel

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented in TwoAxisServoVel.

virtual void setMinMax1	(	double	_min,
		double	_max
	)			[inline, virtual]

virtual void setMinMax2	(	double	_min,
		double	_max
	)			[inline, virtual]

virtual void setPower	(	double	power1,
		double	power2
	)			[inline, virtual]

adjusts the power of the servo

Reimplemented in TwoAxisServoVel.

virtual void setPower1

(

double

power1

)

[inline, virtual]

returns the power of the servo

Reimplemented in TwoAxisServoVel.

virtual void setPower2

(

double

power2

)

[inline, virtual]

returns the power of the servo

Reimplemented in TwoAxisServoVel.

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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]

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

• twoaxisservo.h

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