AX12Servo Struct Reference

This is the AX12Servo ghost struct :D. More...

#include <eagle_AX12Servo.h>

Collaboration diagram for AX12Servo:

Public Member Functions
	AX12Servo (void)
	The constructor. More...
	AX12Servo (DynamixelBoard &dBoard, optVAL_t servoID)
	The constructor. 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

This is the AX12Servo ghost struct :D.

Author

EagleoutIce

You can use this class like this: You can use this class like this: You can use this class like this: You can use this class like this:

#include <eBoard.h>
//manual: '#include "/path/to/eBoard.h"'
SoccerBoard board;
DynamixelBoard servoBoard(board);
AX12Servo Links(servoBoard,1);
AX12Servo Rechts(servoBoard,2);

int main() {
for(;;) {
    Links.setPosition(500);
    Rechts.setPosition(200);
}
}

Definition at line 54 of file eagle_AX12Servo.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

dBoard	this will be used to register new Servos
servoID	the ID of the AX-12 Servo

Member Function Documentation

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().

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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

setPosition()

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

This moves the Servo to the new position.

This will overwrite storedPos and storedSpeed!

Parameters

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

storePosition()

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

inline

This saves the Servo Position.

Sets the values used by DynamixelBoard::action()

Parameters

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

Referenced by main().

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Member Data Documentation

_conBoard

DynamixelBoard* AX12Servo::_conBoard

Definition at line 68 of file eagle_AX12Servo.h.

actPos

int AX12Servo::actPos

private

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

Definition at line 162 of file eagle_AX12Servo.h.

actSpe

int AX12Servo::actSpe

private

stores the actual 'would use speed' of the AX12Servo

Definition at line 164 of file eagle_AX12Servo.h.

id

optVAL_t AX12Servo::id

stores the id of the AX12Servo obejct

Definition at line 159 of file eagle_AX12Servo.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 148 of file eagle_AX12Servo.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 154 of file eagle_AX12Servo.h.

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

• eBoard/source/eagle_AX12Servo.h