Robot Simulator of the Robotics Group for Self-Organization of Control: TwoAxisServoVel Class Reference

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# TwoAxisServoVel Class Reference

general servo motor to achieve position control for 2 axis joints that that internally controls the velocity of the motor (much more stable) with centered zero position More...

`#include <twoaxisservo.h>`

Inherits TwoAxisServoCentered.

Inheritance diagram for TwoAxisServoVel:

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Collaboration diagram for TwoAxisServoVel:

[legend]
List of all members.

## Public Member Functions
| TwoAxisServoVel (const OdeHandle &odeHandle, TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, double damp=0.1, double maxVel=10.0, double jointLimit=1.3)
| min and max values are understood as travel bounds.
virtual | ~TwoAxisServoVel ()
virtual void | setPower (double power1, double power2)
| adjusts the power of the servo
virtual void | setPower1 (double power1)
| returns the power of the servo
virtual void | setPower2 (double power2)
| returns the power of the servo
virtual double | getPower1 ()
| returns the power of the servo
virtual double | getPower2 ()
| returns the power of the servo
virtual double & | offsetCanceling ()
| offetCanceling does not exist for this type of servo
virtual void | setMaxVel (double maxVel)
| adjusts maximal speed of servo
virtual double | getMaxVel ()
| adjusts maximal speed of servo
virtual void | set (double pos1, double pos2)
| sets the set point of the servo.
## Protected Attributes
AngularMotor2Axis | motor
double | dummy

## Detailed Description

general servo motor to achieve position control for 2 axis joints that that internally controls the velocity of the motor (much more stable) with centered zero position

## Constructor & Destructor Documentation

TwoAxisServoVel | ( | const OdeHandle & | odeHandle,
|  | TwoAxisJoint * | joint,
|  | double | _min1,
|  | double | _max1,
|  | double | power1,
|  | double | _min2,
|  | double | _max2,
|  | double | power2,
|  | double | damp = `0.1`,
|  | double | maxVel = `10.0`,
|  | double | jointLimit = `1.3` |
| ) |  |  | `[inline]`

min and max values are understood as travel bounds.

The zero position is max-min/2

virtual ~TwoAxisServoVel | ( |  | ) | `[inline, virtual]`

## Member Function Documentation

virtual double getMaxVel | ( |  | ) | `[inline, virtual]`

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

virtual double getPower1 | ( |  | ) | `[inline, virtual]`

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual double getPower2 | ( |  | ) | `[inline, virtual]`

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual double& offsetCanceling | ( |  | ) | `[inline, virtual]`

offetCanceling does not exist for this type of servo

Reimplemented from TwoAxisServo.

virtual void set | ( | double | pos1,
|  | double | pos2 |
| ) |  |  | `[inline, virtual]`

sets the set point of the servo.

Position must be between -1 and 1. It is scaled to fit into min, max, however 0 is just in the center of min and max

Reimplemented from TwoAxisServoCentered.

virtual void setMaxVel | ( | double | maxVel | ) | `[inline, virtual]`

adjusts maximal speed of servo

Reimplemented from TwoAxisServo.

virtual void setPower | ( | double | power1,
|  | double | power2 |
| ) |  |  | `[inline, virtual]`

adjusts the power of the servo

Reimplemented from TwoAxisServo.

virtual void setPower1 | ( | double | power1 | ) | `[inline, virtual]`

returns the power of the servo

Reimplemented from TwoAxisServo.

virtual void setPower2 | ( | double | power2 | ) | `[inline, virtual]`

returns the power of the servo

Reimplemented from TwoAxisServo.

## Member Data Documentation

double dummy`[protected]`

AngularMotor2Axis motor`[protected]`

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

- twoaxisservo.h