#include <twoaxisservo.h>
Inherits TwoAxisServo.
Inherited by TwoAxisServoVel.
Inheritance diagram for TwoAxisServoCentered:
Public Member Functions | |
| TwoAxisServoCentered (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) | |
| min and max values are understood as travel bounds. | |
| virtual | ~TwoAxisServoCentered () |
| 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. | |
| TwoAxisServoCentered | ( | TwoAxisJoint * | joint, | |
| double | _min1, | |||
| double | _max1, | |||
| double | power1, | |||
| double | _min2, | |||
| double | _max2, | |||
| double | power2, | |||
| double | damp = 0.2, |
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| double | integration = 2, |
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| double | maxVel = 10.0, |
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| double | jointLimit = 1.3 | |||
| ) | [inline] |
min and max values are understood as travel bounds.
The zero position is max-min/2
| virtual ~TwoAxisServoCentered | ( | ) | [inline, virtual] |
| virtual double get1 | ( | ) | [inline, virtual] |
returns the position of the servo (joint) of 1.
axis in ranges [-1, 1] (scaled by min1, max1, centered)
Reimplemented from TwoAxisServo.
| virtual double get2 | ( | ) | [inline, virtual] |
returns the position of the servo (joint) of 2.
axis in ranges [-1, 1] (scaled by min2, max2, centered)
Reimplemented from TwoAxisServo.
| 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, however 0 is just in the center of min and max
Reimplemented from TwoAxisServo.
Reimplemented in TwoAxisServoVel.
1.4.7