UniversalServo Class Reference

#include <universalservo.h>

Collaboration diagram for UniversalServo:

[legend]List of all members.

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Detailed Description

PID Servo motor for universal joints.

Definition at line 42 of file universalservo.h.

Public Member Functions
	UniversalServo (UniversalJoint *joint, double min1, double max1, double power1, double min2, double max2, double power2)
	min and max values are understood as travel bounds.
void	set (double position1, double position2)
	sets the set point of the servo.
double	get1 ()
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
double	get2 ()
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
void	get (double &p1, double &p2)
	returns the position of the hinge in ranges [-1, 1] (scaled by min, max)
void	setPower (double power1, double power2)

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Constructor & Destructor Documentation

UniversalServo (  UniversalJoint *  joint, double  min1, double  max1, double  power1, double  min2, double  max2, double  power2 )

min and max values are understood as travel bounds. power is the power of the servo Definition at line 43 of file universalservo.cpp.

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Member Function Documentation

void get (  double &  p1, double &  p2 )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max) Definition at line 94 of file universalservo.cpp.

double get1 (   )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max) Definition at line 74 of file universalservo.cpp.

double get2 (   )

returns the position of the hinge in ranges [-1, 1] (scaled by min, max) Definition at line 84 of file universalservo.cpp.

void set (  double  position1, double  position2 )

sets the set point of the servo. Position must be between -1 and 1. It is scaled to fit into min, max Definition at line 55 of file universalservo.cpp.

void setPower (  double  power1, double  power2 )

Definition at line 100 of file universalservo.cpp.

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