EncoderPositionSensor Class Reference

A sensor reading a single Encoder and converting the counter to a physical unit, with support for calibration. More...

#include <EncoderPositionSensor.hpp>

List of all members.

Public Member Functions
	EncoderPositionSensor (EncoderInterface *_enc, double _unit_to_inc, double _minpos, double _maxpos)
	Create a new EncoderInterface to SensorInterface Object.
virtual int	readSensor (double &p) const
void	limit (double _min, double _max)
	Set the minimal and maximal position.
void	calibrationPosition (double pos)
	Set the calibration position of this encoder.
void	calibrationDirection (double dir)
	Set the direction in which the calibration will be done.
virtual void	calibrate ()
virtual void	unCalibrate ()
virtual bool	isCalibrated () const
virtual double	readSensor () const
virtual double	maxMeasurement () const
virtual double	minMeasurement () const
virtual double	zeroMeasurement () const
double	calibrate (double calpos, double sign)
	Calibrate the Axis with a given calibration position and direction of the movement.

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Detailed Description

A sensor reading a single Encoder and converting the counter to a physical unit, with support for calibration.

Definition at line 45 of file EncoderPositionSensor.hpp.

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Constructor & Destructor Documentation

EncoderPositionSensor	(	EncoderInterface *	_enc,
		double	_unit_to_inc,
		double	_minpos,
		double	_maxpos
	)			[inline]

Create a new EncoderInterface to SensorInterface Object.

Parameters:

	_enc	The Encoder to use
	_unit_to_inc	Conversion of physical units to increments (eg increments / mm )
	_minpos	The minimal, physical position, after calibration
	_maxpos	The maximal, physical position, after calibration

Definition at line 65 of file EncoderPositionSensor.hpp.

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Member Function Documentation

double calibrate	(	double	calpos,
		double	sign
	)			[inline]

Calibrate the Axis with a given calibration position and direction of the movement.

A calibration position is defined by a positionGet() == 0 (thus, the encoder count is zero), for any turn turnGet() == k. You may call this method only when the encoder is no more than a turn distance away from the intended calibration point. After calibration, readSensor() == cal_pos and isCalibrated() == true .

         * ...|..........|..........|..........| : | = turn increment, . = position increment/decrement
         *    ^turn==N-1 ^ turn==N  ^ turn==N+1
         *               ^ calpos = x mm
         *     |-------------------|  : valid range physical position when calling this method.
         *
         *            ---->           : passed calpos during positive movement, sign = +1
         *            <----           : passed calpos during negative movement, sign = -1
         * 

Parameters:

	calpos	The physical position of the calibrated zero position counter.
	sign	Is the calpos left or right from the current position. (meaning : write +1 if you were moving with a positive velocity, write -1 if you were moving with a negative velocity.)

Returns:

The change in position caused by this calibration.

Definition at line 170 of file EncoderPositionSensor.hpp.

void calibrationDirection

(

double

dir

)

[inline]

Set the direction in which the calibration will be done.

See also:

calibrate()

Parameters:

dir

A positive or negative value.

Definition at line 102 of file EncoderPositionSensor.hpp.

void calibrationPosition

(

double

pos

)

[inline]

Set the calibration position of this encoder.

See also:

calibrate()

Parameters:

pos

The value the encoder will read out on a calibrated position.

Definition at line 91 of file EncoderPositionSensor.hpp.

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The documentation for this class was generated from the following file:

• EncoderPositionSensor.hpp