ARGoS  3
A parallel, multi-engine simulator for swarm robotics
argos::CFootBotTurretDefaultActuator Class Reference

#include <footbot_turret_default_actuator.h>

+ Inheritance diagram for argos::CFootBotTurretDefaultActuator:

List of all members.

Public Member Functions

 CFootBotTurretDefaultActuator ()
virtual ~CFootBotTurretDefaultActuator ()
virtual void SetRobot (CComposableEntity &c_entity)
 Sets the entity associated to this actuator.
virtual void SetRotation (const CRadians &c_angle)
 Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above.
virtual void SetRotationSpeed (SInt32 n_speed_pulses)
 Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above.
virtual void SetMode (ETurretModes e_mode)
 Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.
virtual void Update ()
 Updates the state of the entity associated to this actuator.
virtual void Reset ()
 Resets the actuator to the state it had just after Init().

Detailed Description

Definition at line 24 of file footbot_turret_default_actuator.h.


Constructor & Destructor Documentation


Member Function Documentation

Resets the actuator to the state it had just after Init().

The default implementation of this method does nothing.

See also:
Init()
Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 66 of file footbot_turret_default_actuator.cpp.

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

Parameters:
un_modeturret control mode, possible values are defined in CCI_FootBotTurretActuator

Implements argos::CCI_FootBotTurretActuator.

Definition at line 46 of file footbot_turret_default_actuator.cpp.

Sets the entity associated to this actuator.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the actuator is called.

Parameters:
c_entityThe entity to associate to this actuator.
See also:
CComposableEntity
CControllableEntity::SetController()
CCI_Actuator::Init()

Implements argos::CSimulatedActuator.

Definition at line 23 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::SetRotation ( const CRadians c_angle) [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_angledesired turret rotation

Implements argos::CCI_FootBotTurretActuator.

Definition at line 32 of file footbot_turret_default_actuator.cpp.

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_pulsesdesired turret rotation speed - pid pulses

Implements argos::CCI_FootBotTurretActuator.

Definition at line 39 of file footbot_turret_default_actuator.cpp.

Updates the state of the entity associated to this actuator.

Implements argos::CSimulatedActuator.

Definition at line 53 of file footbot_turret_default_actuator.cpp.


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