Robotsystem from Robot Group Leipzig: hingeservo.cpp Source File

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# hingeservo.cpp

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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: hingeservo.cpp,v $
    00023  *   Revision 1.1.4.4  2006/02/07 15:51:56  martius
    00024  *   axis, setpower
    00025  *
    00026  *   Revision 1.1.4.3  2006/01/10 14:47:57  martius
    00027  *   *** empty log message ***
    00028  *
    00029  *   Revision 1.1.4.2  2006/01/02 08:24:12  fhesse
    00030  *   getAngle() changed to getPosition1();
    00031  *   the same with angle rate
    00032  *
    00033  *   Revision 1.1.4.1  2005/12/20 17:53:42  martius
    00034  *   changed to Joints from joint.h
    00035  *   new servos for universal and hinge2
    00036  *
    00037  *   Revision 1.1  2005/09/12 00:08:45  martius
    00038  *   servo for hinges
    00039  *
    00040  *                                                                 *
    00041  ***************************************************************************/
    00042 #include "hingeservo.h"
    00043 #include <assert.h>
    00044
    00045 namespace lpzrobots {
    00046
    00047   HingeServo::HingeServo(HingeJoint* joint, double min, double max, double power)
    00048     : pid(power, 2.0, 0.3 ), joint(joint)
    00049   {
    00050     assert(min <= 0 && min <= max);
    00051     this->min = min;
    00052     this->max = max;
    00053   }
    00054
    00055   void HingeServo::set(double pos){
    00056     if(pos > 0){
    00057       pos *= max;
    00058     }else{
    00059       pos *= -min;
    00060     }
    00061     pid.setTargetPosition(pos);
    00062     double force = pid.stepWithD(joint->getPosition1(), joint->getPosition1Rate());
    00063     joint->addTorque(force);
    00064   }
    00065
    00066   double HingeServo::get(){
    00067     double pos = joint->getPosition1();
    00068     if(pos > 0){
    00069       pos /= max;
    00070     }else{
    00071       pos /= -min;
    00072     }
    00073     return pos;
    00074   }
    00075
    00076   void HingeServo::setPower(double power){
    00077     pid.setKP(power);
    00078   }
    00079
    00080
    00081 }