Robotsystem from Robot Group Leipzig: HingeServo Class Reference

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# HingeServo Class Reference

`#include <hingeservo.h>`

Collaboration diagram for HingeServo:

[legend]
List of all members.

## Detailed Description

PID Servo motor for hinge joints.

Definition at line 44 of file hingeservo.h.

## Public Member Functions
| HingeServo (HingeJoint *joint, double min, double max, double power)
| min and max values are understood as travel bounds.
void | set (double position)
| sets the set point of the servo.
double | get ()
| returns the position of the slider in ranges [-1, 1] (scaled by min, max)
void | setPower (double power)

## Constructor & Destructor Documentation

HingeServo | ( | HingeJoint * | joint,
|  | double | min,
|  | double | max,
|  | double | power
| ) |

| min and max values are understood as travel bounds. power is the power of the servo Definition at line 47 of file hingeservo.cpp.

## Member Function Documentation

double get | ( |  | ) |

| returns the position of the slider in ranges [-1, 1] (scaled by min, max) Definition at line 66 of file hingeservo.cpp.

void set | ( | double | position | ) |

| sets the set point of the servo. Position must be between -1 and 1. It is scaled to fit into min, max Definition at line 55 of file hingeservo.cpp.

void setPower | ( | double | power | ) |

| Definition at line 76 of file hingeservo.cpp.