rmb::ServoPositionController Class Reference

#include <rmb/motorcontrol/ServoPositionController.h>

Inheritance diagram for rmb::ServoPositionController:

Public Member Functions
	ServoPositionController (const ServoPositionController &)=delete
	ServoPositionController (ServoPositionController &&)=default
	ServoPositionController (int channel)
virtual void	setPosition (units::radian_t position)
virtual units::radian_t	getTargetPosition () const
virtual units::radian_t	getMinPosition () const
virtual units::radian_t	getMaxPosition () const
virtual void	setInverted (bool isInverted)
virtual bool	getInverted () const
virtual void	disable ()
virtual void	stop ()
Public Member Functions inherited from rmb::AngularPositionController
virtual void	setPower (double power)=0
virtual double	getPower () const =0
virtual units::radians_per_second_t	getVelocity () const =0
virtual units::radian_t	getPosition () const =0
virtual void	setEncoderPosition (units::radian_t position=0_rad)=0
virtual units::radian_t	getTolerance () const =0
virtual units::radian_t	getError () const
virtual bool	atTarget () const

Additional Inherited Members
Public Types inherited from rmb::AngularPositionController
using	ConversionUnit
using	ConversionUnit_t = units::unit_t<ConversionUnit>

Detailed Description

Custom servo object the conforms to the AngularPositionController interface.

Member Function Documentation

disable()

virtual void rmb::ServoPositionController::disable ( )

inlinevirtual

Common interface for disabling a mechanism.

Implements rmb::AngularPositionController.

getInverted()

virtual bool rmb::ServoPositionController::getInverted ( ) const

inlinevirtual

Common interface for returning the inversion state of a mechanism.

Returns

isInverted The state of inversion, true is inverted.

getMaxPosition()

virtual units::radian_t rmb::ServoPositionController::getMaxPosition ( ) const

inlinevirtual

Gets the maximum angular position.

Returns

The maximum angular position in radians.

Implements rmb::AngularPositionController.

getMinPosition()

virtual units::radian_t rmb::ServoPositionController::getMinPosition ( ) const

inlinevirtual

Gets the minimum angular position.

Returns

The minimum angular position in radians.

Implements rmb::AngularPositionController.

getTargetPosition()

virtual units::radian_t rmb::ServoPositionController::getTargetPosition ( ) const

inlinevirtual

Common interface for getting the target linear position.

Returns

The target linear position in meters.

Implements rmb::AngularPositionController.

setInverted()

virtual void rmb::ServoPositionController::setInverted ( bool isInverted )

inlinevirtual

Common interface for inverting direction of a mechanism.

Parameters

isInverted

The state of inversion, true is inverted.

setPosition()

virtual void rmb::ServoPositionController::setPosition ( units::radian_t position )

inlinevirtual

Common interface for setting the target linear position.

Parameters

position

The target linear position in meters.

Implements rmb::AngularPositionController.

stop()

virtual void rmb::ServoPositionController::stop ( )

inlinevirtual

Common interface to stop the mechanism until setPosition is called again.

Implements rmb::AngularPositionController.

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

• src/rmb/motorcontrol/ServoPositionController.h