argos::CCI_FootBotTurretActuator Class Reference

#include <ci_footbot_turret_actuator.h>

Inheritance diagram for argos::CCI_FootBotTurretActuator:

Collaboration diagram for argos::CCI_FootBotTurretActuator:

Public Types
enum	ETurretModes { MODE_OFF , MODE_PASSIVE , MODE_SPEED_CONTROL , MODE_POSITION_CONTROL }
	Turret modes. More...
Public Types inherited from argos::CCI_Actuator
typedef std::map< std::string, CCI_Actuator *, std::less< std::string > >	TMap

Public Member Functions
virtual	~CCI_FootBotTurretActuator ()
	Destructor. More...
virtual void	SetRotation (const CRadians &c_angle)=0
	Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above. More...
virtual void	SetRotationSpeed (SInt32 n_speed_pulses)=0
	Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above. More...
virtual void	SetMode (ETurretModes e_mode)=0
	Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off. More...
void	SetActiveWithRotation (const CRadians &c_angle)
	Sets the turret control mode to active, and sets the target rotation to the given one. More...
void	SetSpeedControlMode ()
	Sets the turret control mode to speed control. More...
void	SetPositionControlMode ()
	Sets the turret control mode to position control. More...
void	SetPassiveMode ()
	Sets the turret control mode to passive. More...
Public Member Functions inherited from argos::CCI_Actuator
virtual	~CCI_Actuator ()
	Class destructor. More...
virtual void	Init (TConfigurationNode &t_node)
	Initializes the actuator from the XML configuration tree. More...
virtual void	Reset ()
	Resets the actuator to the state it had just after Init(). More...
virtual void	Destroy ()
	Destroys the actuator. More...
Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Static Public Attributes
static const CRange< SInt32 >	SPEED_RANGE
static const CRange< Real >	NORMALIZED_SPEED_RANGE

Detailed Description

Definition at line 55 of file ci_footbot_turret_actuator.h.

Member Enumeration Documentation

ETurretModes

enum argos::CCI_FootBotTurretActuator::ETurretModes

Turret modes.

Enumerator
MODE_OFF
MODE_PASSIVE
MODE_SPEED_CONTROL
MODE_POSITION_CONTROL

Definition at line 60 of file ci_footbot_turret_actuator.h.

Constructor & Destructor Documentation

~CCI_FootBotTurretActuator()

virtual argos::CCI_FootBotTurretActuator::~CCI_FootBotTurretActuator ( )

inlinevirtual

Destructor.

Definition at line 77 of file ci_footbot_turret_actuator.h.

Member Function Documentation

SetActiveWithRotation()

void argos::CCI_FootBotTurretActuator::SetActiveWithRotation

(

const CRadians &

c_angle

)

Sets the turret control mode to active, and sets the target rotation to the given one.

Parameters

c_angle

desired turret rotation

See also

SetMode

SetRotation

Definition at line 94 of file ci_footbot_turret_actuator.cpp.

SetMode()

virtual void argos::CCI_FootBotTurretActuator::SetMode ( ETurretModes  e_mode )

pure virtual

Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.

Parameters

un_mode

turret control mode, possible values are defined in CCI_FootBotTurretActuator

Implemented in argos::CFootBotTurretDefaultActuator.

SetPassiveMode()

void argos::CCI_FootBotTurretActuator::SetPassiveMode

(

)

Sets the turret control mode to passive.

See also

SetMode

Definition at line 116 of file ci_footbot_turret_actuator.cpp.

SetPositionControlMode()

void argos::CCI_FootBotTurretActuator::SetPositionControlMode

(

)

Sets the turret control mode to position control.

See also

SetMode

Definition at line 109 of file ci_footbot_turret_actuator.cpp.

SetRotation()

virtual void argos::CCI_FootBotTurretActuator::SetRotation ( const CRadians &  c_angle )

pure virtual

Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in position control mode, the only effect is that the target rotation is changed but the turret will not turn: it will turn when position control mode is activated (unless another target rotation is specified meantime).

Parameters

c_angle

desired turret rotation

Implemented in argos::CFootBotTurretDefaultActuator.

SetRotationSpeed()

virtual void argos::CCI_FootBotTurretActuator::SetRotationSpeed ( SInt32  n_speed_pulses )

pure virtual

Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in speed control mode, the only effect is that the target rotation speed is changed but the turret will not turn: it will turn when speed control mode is activated (unless another target rotation speed is specified meantime).

Parameters

n_speed_pulses

desired turret rotation speed - pid pulses

Implemented in argos::CFootBotTurretDefaultActuator.

SetSpeedControlMode()

void argos::CCI_FootBotTurretActuator::SetSpeedControlMode

(

)

Sets the turret control mode to speed control.

See also

SetMode

Definition at line 102 of file ci_footbot_turret_actuator.cpp.

Member Data Documentation

NORMALIZED_SPEED_RANGE

const CRange< Real > argos::CCI_FootBotTurretActuator::NORMALIZED_SPEED_RANGE

static

Definition at line 70 of file ci_footbot_turret_actuator.h.

SPEED_RANGE

const CRange< SInt32 > argos::CCI_FootBotTurretActuator::SPEED_RANGE

static

Definition at line 69 of file ci_footbot_turret_actuator.h.