CAx12 Class Reference

Ax12 module (Servo motor, Hardware Abstraction). More...

#include <wrapper.h>

Inheritance diagram for CAx12:

List of all members.

Public Member Functions
	CAx12 ()
void	readFromRobot ()
	Reads servo motor information from robot into data.
void	writeToRobot (byte schedule=0)
	Writes servo motor information from data to robot.
bool	rangeError ()
	Indicates if an out-of-bounds error occurred.
void	setTargetAngle (float angle_in_degree)
void	setTargetAngleMinMax (float min, float max)
float	getTargetAngle ()
float	getCurrentAngle ()
void	setCurrentAngle (float angle_in_degree)
void	setTargetToCurrentAngle ()
void	setSpeedLimit (unsigned int limit)
unsigned int	getSpeedLimit ()
unsigned int	getCurrentSpeed ()
void	controlSpeed (float targetPosition, float time, int speedMax=1023)
void	setTorqueLimit (unsigned int limit)
unsigned int	getTorqueLimit ()
int	getCurrentTorque ()
void	controlTorque (float targetPosition, float time, unsigned int torqueMax=1023)
Public Attributes
CController	torquePID
CController	speedPID
float	angleSign
	Should be +1.0 (clockwise, standard value) or -1.0 (counterclockwise).
byte	data [AX12_DATA_READ]
	Stores servo motor information (Current and target angle, torque, speed).
bool	checkRange
	Indicates if out-of-bound error should be produced.
bool	useCurrentAngle
	Indicates if current or target angle should be used to test out-of-bound errors.
Private Attributes
float	angleMin
	Lower bound for valid angles (in degree).
float	angleMax
	Upper bound for valid angles (in degree).
float	angleErrorCurrent
float	angleErrorTarget
	Target angle (in degree) that produces the last out-of-bounds error.
bool	angleError
	Indicates if an out-of-bounds error occured.
unsigned long	timestamp
	Timestamp of last angle update.
float	oldAngles [OLDANGLESCOUNT]
	Cyclic buffer of past target angles.
int	oldAnglesIndex
	Current index in cyclic buffer.

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Detailed Description

Ax12 module (Servo motor, Hardware Abstraction).

After calling readFromRobot, the current state of the servo module is accessible through the get-functions. The current values can be changed via the set-functions and can be written to the robot by calling writeToRobot.

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Constructor & Destructor Documentation

CAx12::CAx12

(

)

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Member Function Documentation

void CAx12::readFromRobot

(

)

Reads servo motor information from robot into data.

void CAx12::writeToRobot

(

byte

schedule = 0

)

Writes servo motor information from data to robot.

bool CAx12::rangeError

(

)

Indicates if an out-of-bounds error occurred.

void CAx12::setTargetAngle

(

float

angle_in_degree

)

void CAx12::setTargetAngleMinMax	(	float	min,
		float	max
	)

float CAx12::getTargetAngle

(

)

float CAx12::getCurrentAngle

(

)

void CAx12::setCurrentAngle

(

float

angle_in_degree

)

void CAx12::setTargetToCurrentAngle

(

)

void CAx12::setSpeedLimit

(

unsigned int

limit

)

unsigned int CAx12::getSpeedLimit

(

)

unsigned int CAx12::getCurrentSpeed

(

)

void CAx12::controlSpeed	(	float	targetPosition,
		float	time,
		int	speedMax = 1023
	)

void CAx12::setTorqueLimit

(

unsigned int

limit

)

unsigned int CAx12::getTorqueLimit

(

)

int CAx12::getCurrentTorque

(

)

void CAx12::controlTorque	(	float	targetPosition,
		float	time,
		unsigned int	torqueMax = 1023
	)

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Member Data Documentation

float CAx12::angleMin [private]

Lower bound for valid angles (in degree).

float CAx12::angleMax [private]

Upper bound for valid angles (in degree).

float CAx12::angleErrorCurrent [private]

float CAx12::angleErrorTarget [private]

Target angle (in degree) that produces the last out-of-bounds error.

bool CAx12::angleError [private]

Indicates if an out-of-bounds error occured.

unsigned long CAx12::timestamp [private]

Timestamp of last angle update.

float CAx12::oldAngles[OLDANGLESCOUNT] [private]

Cyclic buffer of past target angles.

int CAx12::oldAnglesIndex [private]

Current index in cyclic buffer.

CController CAx12::torquePID

CController CAx12::speedPID

float CAx12::angleSign

Should be +1.0 (clockwise, standard value) or -1.0 (counterclockwise).

byte CAx12::data[AX12_DATA_READ]

Stores servo motor information (Current and target angle, torque, speed).

bool CAx12::checkRange

Indicates if out-of-bound error should be produced.

bool CAx12::useCurrentAngle

Indicates if current or target angle should be used to test out-of-bound errors.

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

• include/wrapper.h
• src/wrapper.cpp

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