Class evam::SteeringActuator

template <class Driver, signed short kLeftPos, signed short kCenterPos, signed short kRightPos>

ClassList > evam > SteeringActuator

Steering actuator (centered servo) controller. More...

• #include <evamSteeringActuator.h>

Inherits the following classes: Driver

Public Functions

Type	Name
signed short	GetCenterPos () const Get center position output value.
signed short	GetLeftPos () const Get leftmost position output value.
signed short	GetRightPos () const Get rightmost position output value.
void	Go (signed short aLevel) Apply the steering control value.
void	SetCenterPos (signed short aValue) Set center position output value.
void	SetLeftPos (signed short aValue) Set leftmost position output value.
void	SetRightPos (signed short aValue) Set rightmost position output value.
void	SetupRange (signed short leftPos, signed short centerPos, signed short rightPos) Configure all position parameters at once.
	SteeringActuator ()
	SteeringActuator (SteeringConfig config, Args... args)

Detailed Description

Maps input range -1000..1000 to output positions: -1000 = left position, 0 = center, 1000 = right position.

Template parameters:

• Driver Driver class (must implement actBipolar(signed short))
• kLeftPos Output value at -1000 input (leftmost position)
• kCenterPos Output value at 0 input (center position)
• kRightPos Output value at 1000 input (rightmost position)

Public Functions Documentation

function GetCenterPos

Get center position output value.

inline signed short evam::SteeringActuator::GetCenterPos () const

Returns:

Current center position output value.

---

function GetLeftPos

Get leftmost position output value.

inline signed short evam::SteeringActuator::GetLeftPos () const

Returns:

Current leftmost position output value.

---

function GetRightPos

Get rightmost position output value.

inline signed short evam::SteeringActuator::GetRightPos () const

Returns:

Current rightmost position output value.

---

function Go

Apply the steering control value.

inline void evam::SteeringActuator::Go (
    signed short aLevel
) 

Parameters:

• aLevel Input steering value, range -1000..1000.

---

function SetCenterPos

Set center position output value.

inline void evam::SteeringActuator::SetCenterPos (
    signed short aValue
) 

Parameters:

• aValue Output value, clamped to -1000..1000.

---

function SetLeftPos

Set leftmost position output value.

inline void evam::SteeringActuator::SetLeftPos (
    signed short aValue
) 

Parameters:

• aValue Output value, clamped to -1000..1000.

---

function SetRightPos

Set rightmost position output value.

inline void evam::SteeringActuator::SetRightPos (
    signed short aValue
) 

Parameters:

• aValue Output value, clamped to -1000..1000.

---

function SetupRange

Configure all position parameters at once.

inline void evam::SteeringActuator::SetupRange (
    signed short leftPos,
    signed short centerPos,
    signed short rightPos
) 

Parameters:

• aLeftPos Output value at -1000 input (leftmost position), range -1000..1000
• aCenterPos Output value at 0 input (center position), range -1000..1000
• aRightPos Output value at 1000 input (rightmost position), range -1000..1000

---

function SteeringActuator [1/2]

inline evam::SteeringActuator::SteeringActuator () 

---

function SteeringActuator [2/2]

template<typename... Args>
inline evam::SteeringActuator::SteeringActuator (
    SteeringConfig config,
    Args... args
) 

---

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The documentation for this class was generated from the following file src/evamSteeringActuator.h