TwoAxisServoVel Class Reference

general servo motor to achieve position control for 2 axis joints that that internally controls the velocity of the motor (much more stable) with centered zero position More...

#include <twoaxisservo.h>

Inherits TwoAxisServoCentered.

Inheritance diagram for TwoAxisServoVel:

[legend]Collaboration diagram for TwoAxisServoVel:

[legend]List of all members.

Public Member Functions
	TwoAxisServoVel (const OdeHandle &odeHandle, TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, double damp=0.1, double maxVel=10.0, double jointLimit=1.3)
	min and max values are understood as travel bounds.
virtual	~TwoAxisServoVel ()
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 &	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 pos1, double pos2)
	sets the set point of the servo.
Protected Attributes
AngularMotor2Axis	motor
double	dummy

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Detailed Description

general servo motor to achieve position control for 2 axis joints that that internally controls the velocity of the motor (much more stable) with centered zero position

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Constructor & Destructor Documentation

TwoAxisServoVel	(	const OdeHandle &	odeHandle,
		TwoAxisJoint *	joint,
		double	_min1,
		double	_max1,
		double	power1,
		double	_min2,
		double	_max2,
		double	power2,
		double	damp = 0.1,
		double	maxVel = 10.0,
		double	jointLimit = 1.3
	)			[inline]

min and max values are understood as travel bounds.

The zero position is max-min/2

virtual ~TwoAxisServoVel

(

)

[inline, virtual]

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Member Function Documentation

virtual double getMaxVel

(

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

virtual double getPower1

(

)

[inline, virtual]

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual double getPower2

(

)

[inline, virtual]

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual double& offsetCanceling

(

)

[inline, virtual]

offetCanceling does not exist for this type of servo

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 TwoAxisServoCentered.

virtual void setMaxVel

(

double

maxVel

)

[inline, virtual]

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

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

adjusts the power of the servo

Reimplemented from TwoAxisServo.

virtual void setPower1

(

double

power1

)

[inline, virtual]

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual void setPower2

(

double

power2

)

[inline, virtual]

returns the power of the servo

Reimplemented from TwoAxisServo.

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Member Data Documentation

double dummy [protected]

AngularMotor2Axis motor [protected]

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

• twoaxisservo.h

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