ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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43 #ifndef CCI_FOOTBOT_TURRET_ACTUATOR_H
44 #define CCI_FOOTBOT_TURRET_ACTUATOR_H
47 class CCI_FootBotTurretActuator;
50 #include <argos3/core/control_interface/ci_actuator.h>
51 #include <argos3/core/utility/math/angles.h>
138 #ifdef ARGOS_WITH_LUA
ETurretModes
Turret modes.
virtual void SetMode(ETurretModes e_mode)=0
Sets the turret control mode Modes are: angular position control, rotation speed control,...
The namespace containing all the ARGoS related code.
virtual void CreateLuaState(lua_State *pt_lua_state)=0
Creates the Lua state for this actuator.
It defines the basic type CRadians, used to store an angle value in radians.
void SetSpeedControlMode()
Sets the turret control mode to speed control.
static const CRange< SInt32 > SPEED_RANGE
virtual void SetRotation(const CRadians &c_angle)=0
Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret c...
virtual void SetRotationSpeed(SInt32 n_speed_pulses)=0
Sets the turret rotation speed Turret rotation speed is expressed in motor pulses,...
The basic interface for all actuators.
signed int SInt32
32-bit signed integer.
static const CRange< Real > NORMALIZED_SPEED_RANGE
void SetActiveWithRotation(const CRadians &c_angle)
Sets the turret control mode to active, and sets the target rotation to the given one.
void SetPassiveMode()
Sets the turret control mode to passive.
void SetPositionControlMode()
Sets the turret control mode to position control.
virtual ~CCI_FootBotTurretActuator()
Destructor.