eBoard ๐Ÿ‰  โ‘ โ‘งโ‘จ
Written for SIA 2017/2018
AX12Servo Struct Reference

[COPY&PASTE] This is the AX12Servo ghost struct :D More...

#include <eBoard.h>

+ Collaboration diagram for AX12Servo:

Public Member Functions

 AX12Servo (void)
 The constructor. More...
 
 AX12Servo (DynamixelBoard &dBoard, optVAL_t servoID)
 The constructor. More...
 
void setID (optVAL_t newID)
 change the AX-12 Servo this object should speak to More...
 
void changeMotorID (optVAL_t newID)
 change the AX-12 Servo this object should speak to More...
 
void setPositionMode (void)
 set the AX-12 Servo to positionMode More...
 
void setSpeedMode (void)
 set the AX-12 Servo NOT to speedMode More...
 
void setSpeed (optVAL_t)
 ๐Ÿ”ง I prevent errors! More...
 
void ledOff (void)
 Noone needs the AX-12 Servo LED^^. More...
 
void ledOn (void)
 Noone needs the AX-12 Servo LED^^. More...
 
void setTorque (uint16_t)
 ๐Ÿ”ง I prevent errors! More...
 
void setPosition (int pos, int speed=0x3FF)
 This moves the Servo to the new position. More...
 
void storePosition (int pos, int speed=0x3FF)
 This saves the Servo Position. More...
 
optVAL_t getPosition (void)
 This "kind of" returns the Servo-Position. More...
 
bool isMoving (void)
 Use this if you wan't to have a nice way of writing false. More...
 

Public Attributes

DynamixelBoard_conBoard
 
int storedPos
 stores the position the Servo should go to DynamixelBoard::action() More...
 
int storedSpe
 stores the Speed of the Servo DynamixelBoard::action() More...
 
optVAL_t id
 stores the id of the AX12Servo obejct More...
 

Private Attributes

int actPos
 stores the actual pos or move-to pos of the AX12Servo More...
 
int actSpe
 stores the actual 'would use speed' of the AX12Servo More...
 

Detailed Description

[COPY&PASTE] This is the AX12Servo ghost struct :D

Author
EagleoutIce

[COPY&PASTE] You can use this class like this:

#include "/home/eagleoutice/Dokumente/proj/_sia/src/eBoard.h"
//added as library '#include <eBoard.h>'
DynamixelBoard servoBoard(board);
AX12Servo Links(servoBoard,1);
AX12Servo Rechts(servoBoard,2);
int main() {
Links.setPosition(500);
Rechts.setPosition(200);
for(;;) {}
}

Definition at line 3086 of file eBoard.h.

Constructor & Destructor Documentation

◆ AX12Servo() [1/2]

AX12Servo::AX12Servo ( void  )

The constructor.

Warning
This constructor shouldn't be called!

◆ AX12Servo() [2/2]

AX12Servo::AX12Servo ( DynamixelBoard dBoard,
optVAL_t  servoID 
)

The constructor.

Parameters
dBoardthis will be used to register new Servos
servoIDthe ID of the AX-12 Servo

Member Function Documentation

◆ changeMotorID()

void AX12Servo::changeMotorID ( optVAL_t  newID)
inline

change the AX-12 Servo this object should speak to

Parameters
newIDthe new ID of the Servo
Note
this should change the hardwareID of the Servo... but we don't want to mess things up do we?
if we want to: _servoHandler.setID(this->id, newID);

◆ getPosition()

optVAL_t AX12Servo::getPosition ( void  )
inline

This "kind of" returns the Servo-Position.

Returns
The position the servo is (actually driving to)

Referenced by main().

+ Here is the caller graph for this function:

◆ isMoving()

bool AX12Servo::isMoving ( void  )
inline

Use this if you wan't to have a nice way of writing false.

Note
this doesnt talk to the servo
Returns
false

◆ ledOff()

void AX12Servo::ledOff ( void  )
inline

Noone needs the AX-12 Servo LED^^.

◆ ledOn()

void AX12Servo::ledOn ( void  )
inline

Noone needs the AX-12 Servo LED^^.

◆ setID()

void AX12Servo::setID ( optVAL_t  newID)
inline

change the AX-12 Servo this object should speak to

Parameters
newIDthe new ID of the Servo
Note
why should anyone need that?

◆ setPosition()

void AX12Servo::setPosition ( int  pos,
int  speed = 0x3FF 
)

This moves the Servo to the new position.

This will overwrite storedPos and storedSpeed!

Parameters
posthe Position the Servo should go to [0;1023 (w EBOARD_CLAMP)]
speedthe speed of the Servo

◆ setPositionMode()

void AX12Servo::setPositionMode ( void  )
inline

set the AX-12 Servo to positionMode

Note
as there is no rotationMode there is nothing this does

◆ setSpeed()

void AX12Servo::setSpeed ( optVAL_t  )
inline

๐Ÿ”ง I prevent errors!

Note
as there is no rotationMode there is nothing this does

◆ setSpeedMode()

void AX12Servo::setSpeedMode ( void  )
inline

set the AX-12 Servo NOT to speedMode

Note
as there is no rotationMode there is nothing this does

◆ setTorque()

void AX12Servo::setTorque ( uint16_t  )
inline

๐Ÿ”ง I prevent errors!

◆ storePosition()

void AX12Servo::storePosition ( int  pos,
int  speed = 0x3FF 
)
inline

This saves the Servo Position.

Sets the values used by DynamixelBoard::action()

Parameters
posthe Position the Servo should go to [0;1023 (w EBOARD_CLAMP)]
speedthe speed of the Servo

Referenced by main().

+ Here is the caller graph for this function:

Member Data Documentation

◆ _conBoard

DynamixelBoard* AX12Servo::_conBoard

Definition at line 3100 of file eBoard.h.

◆ actPos

int AX12Servo::actPos
private

stores the actual pos or move-to pos of the AX12Servo

Definition at line 3195 of file eBoard.h.

◆ actSpe

int AX12Servo::actSpe
private

stores the actual 'would use speed' of the AX12Servo

Definition at line 3197 of file eBoard.h.

◆ id

optVAL_t AX12Servo::id

stores the id of the AX12Servo obejct

Definition at line 3192 of file eBoard.h.

◆ storedPos

int AX12Servo::storedPos

stores the position the Servo should go to DynamixelBoard::action()

Note
pls do me a favour and don't change them manually... use AX12Servo::storePosition()

Definition at line 3181 of file eBoard.h.

◆ storedSpe

int AX12Servo::storedSpe

stores the Speed of the Servo DynamixelBoard::action()

Note
pls do me a favour and don't change them manually... use AX12Servo::storePosition()

Definition at line 3187 of file eBoard.h.


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