Robotsystem of the Robot Group Leipzig: sliderservo.h Source File

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# sliderservo.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: sliderservo.h,v $
    00023  *   Revision 1.3  2006/07/14 12:23:32  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.2.4.2  2006/01/10 14:49:23  martius
    00027  *   maxforce not needed
    00028  *
    00029  *   Revision 1.2.4.1  2005/12/20 17:53:42  martius
    00030  *   changed to Joints from joint.h
    00031  *   new servos for universal and hinge2
    00032  *
    00033  *   Revision 1.2  2005/09/01 14:22:00  martius
    00034  *   parameters adjusted
    00035  *
    00036  *   Revision 1.1  2005/08/30 16:55:48  martius
    00037  *   servo motor for sliders
    00038  *
    00039  *                                                                 *
    00040  ***************************************************************************/
    00041 #ifndef __SLIDERSERVO_H
    00042 #define __SLIDERSERVO_H
    00043
    00044 #include "pid.h"
    00045 #include "joint.h"
    00046
    00047 namespace lpzrobots {
    00048
    00049 /** PID Servo motor for slider joints.
    00050 */
    00051 class SliderServo {
    00052 public:
    00053   /** min and max values are understood as travel bounds. Min should be less than 0.*/
    00054   SliderServo(SliderJoint* joint, double min, double max, double mass);
    00055   /** sets the set point of the servo.
    00056       Position must be between -1 and 1. It is scaled to fit into min, max
    00057   */
    00058   void set(double position);
    00059   /** returns the position of the slider in ranges [-1, 1] (scaled by min, max)*/
    00060   double get();
    00061
    00062 private:
    00063   PID pid;
    00064   double min;
    00065   double max;
    00066   SliderJoint* joint;
    00067 };
    00068
    00069 }
    00070 #endif