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

#include <ci_footbot_turret_actuator.h>

+ Inheritance diagram for argos::CCI_FootBotTurretActuator:

List of all members.

Public Types

enum  ETurretModes { MODE_OFF, MODE_PASSIVE, MODE_SPEED_CONTROL, MODE_POSITION_CONTROL }
 Turret modes. More...

Public Member Functions

virtual ~CCI_FootBotTurretActuator ()
 Destructor.
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.
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.
virtual void SetMode (ETurretModes e_mode)=0
 Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.
void SetActiveWithRotation (const CRadians &c_angle)
 Sets the turret control mode to active, and sets the target rotation to the given one.
void SetSpeedControlMode ()
 Sets the turret control mode to speed control.
void SetPositionControlMode ()
 Sets the turret control mode to position control.
void SetPassiveMode ()
 Sets the turret control mode to passive.

Static Public Attributes

static const CRange< SInt32SPEED_RANGE
static const CRange< RealNORMALIZED_SPEED_RANGE

Detailed Description

Definition at line 55 of file ci_footbot_turret_actuator.h.


Member Enumeration Documentation

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

Destructor.

Definition at line 77 of file ci_footbot_turret_actuator.h.


Member Function Documentation

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

Parameters:
c_angledesired turret rotation
See also:
SetMode
SetRotation

Definition at line 118 of file ci_footbot_turret_actuator.h.

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_modeturret control mode, possible values are defined in CCI_FootBotTurretActuator

Implemented in argos::CFootBotTurretDefaultActuator.

Sets the turret control mode to passive.

See also:
SetMode

Definition at line 143 of file ci_footbot_turret_actuator.h.

Sets the turret control mode to position control.

See also:
SetMode

Definition at line 135 of file ci_footbot_turret_actuator.h.

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_angledesired turret rotation

Implemented in argos::CFootBotTurretDefaultActuator.

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_pulsesdesired turret rotation speed - pid pulses

Implemented in argos::CFootBotTurretDefaultActuator.

Sets the turret control mode to speed control.

See also:
SetMode

Definition at line 127 of file ci_footbot_turret_actuator.h.


Member Data Documentation


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