A AnalogDrive Object converts a physical unit (position, torque,. More...
#include <AnalogDrive.hpp>
Public Member Functions | |
| AnalogDrive (AnalogOutput *an_out, DigitalOutput *dig_out, double _scale=1.0, double _offset=0.0) | |
| Construct an Analog Drive object and aggregate an_out and dig_out. | |
| bool | enableDrive () |
| Enable the drive. | |
| bool | disableDrive () |
| Disable the drive. | |
| DigitalOutput * | getEnable () |
| bool | isEnabled () const |
| void | addOffset (double addoffset) |
| add an offset to the current offset | |
| double | getOffset () |
| get the current offset | |
| void | limit (double lower, double higher, const Event< void(std::string)> &ev) |
| Limit the velocity of the drive. | |
| bool | driveSet (double v) |
| Sets a new velocity. | |
| double | driveGet () const |
| Returns the current drive velocity. | |
| double | maxDriveGet () const |
| Returns the maximum drive velocity without limitations. | |
| double | minDriveGet () const |
| Returns the minimum drive velocity without limitations. | |
Protected Attributes | |
| AnalogOutput * | analogDevice |
| DigitalOutput * | enableDevice |
| double | mySpeed |
| double | scale |
| double | offset |
| double | lowvel |
| double | highvel |
| Event< void(std::string)> | event |
A AnalogDrive Object converts a physical unit (position, torque,.
..) to an analog output. It can also be enabled.
Uses an analog output which is connected to a hardware drive with position/velocity/acceleration/torque control and the enabling of the drive through a digital output.
Definition at line 56 of file AnalogDrive.hpp.
| AnalogDrive | ( | AnalogOutput * | an_out, | |
| DigitalOutput * | dig_out, | |||
| double | _scale = 1.0, |
|||
| double | _offset = 0.0 | |||
| ) | [inline] |
Construct an Analog Drive object and aggregate an_out and dig_out.
The voltage sent to the AnalogOutput is calculated as :
* volt = (setpoint + offset)/scale
* Example for a velocity drive :
* scale = 10 mm/s/Volt
* offset = 5
* velocity = X
* output = Y
* Y Volt = ( - X (mm/s) + 5 (mm/s) )/ ( 10 ( mm/s/ Volt ) )
* | _scale | The scale of unit per volt such that unit = volt * _scale | |
| _offset | The offset to be added to the unit such that new_unit = vel + offset |
Definition at line 81 of file AnalogDrive.hpp.
References AnalogDrive::disableDrive(), and AnalogDrive::driveSet().
1.6.3