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# universalservo.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: universalservo.h,v $
    00023  *   Revision 1.1.2.2  2006/02/07 15:51:56  martius
    00024  *   axis, setpower
    00025  *
    00026  *   Revision 1.1.2.1  2005/12/20 17:53:42  martius
    00027  *   changed to Joints from joint.h
    00028  *   new servos for universal and hinge2
    00029  *
    00030  *                                                                 *
    00031  ***************************************************************************/
    00032 #ifndef __UNIVERSALSERVO_H
    00033 #define __UNIVERSALSERVO_H
    00034
    00035 #include "pid.h"
    00036 #include "joint.h"
    00037
    00038 namespace lpzrobots {
    00039
    00040 /** PID Servo motor for universal joints.
    00041 */
    00042 class UniversalServo {
    00043 public:
    00044   /** min and max values are understood as travel bounds.
    00045       power is the power of the servo
    00046       */
    00047   UniversalServo(UniversalJoint* joint, double min1, double max1, double power1,
    00048               double min2, double max2, double power2);
    00049
    00050   /** sets the set point of the servo.
    00051       Position must be between -1 and 1. It is scaled to fit into min, max
    00052   */
    00053   void set(double position1, double position2);
    00054   /** returns the position of the hinge in ranges [-1, 1] (scaled by min, max)*/
    00055   double get1();
    00056   /** returns the position of the hinge in ranges [-1, 1] (scaled by min, max)*/
    00057   double get2();
    00058   /** returns the position of the hinge in ranges [-1, 1] (scaled by min, max)*/
    00059   void get(double& p1, double& p2);
    00060
    00061   /* adjusts the power of the two servos*/
    00062   void setPower(double power1, double power2);
    00063
    00064 private:
    00065   PID pid1;
    00066   PID pid2;
    00067   double min1;
    00068   double max1;
    00069   double min2;
    00070   double max2;
    00071   UniversalJoint* joint;
    00072 };
    00073
    00074 }
    00075
    00076 #endif