BHMotorExt Class Reference

This class is designed to controll each motor with feeback controll. More...

#include <bhmotorext.h>

Inheritance diagram for BHMotorExt:

[legend]Collaboration diagram for BHMotorExt:


Public Member Functions
	BHMotorExt (MotorFeedback *mf, int speed)
	Constructor with speed setting.
	BHMotorExt (MotorFeedback *mf)
	Constructor for BHMotorExt object.
	BHMotorExt ()
	Default constructor. DO NOT USE IT !
int	getAbsPos () const
	Returns Motors absolute position.
int	getDeltaPos () const
	Returns Motors delta position.
int	getFeedbackVel () const
	Returns Motors feedback velocity.
int	getStrain () const
	Returns Motors Strain value.
int	posError () const
void	resetDeltaPos ()
	Sets the DeltaPos value to zero.
Protected Attributes
MotorFeedback *	FeedBack

Detailed Description

This class is designed to controll each motor with feeback controll.

Author:: Tim Baier

This class contains the informations of the motor parameters position, speed and gain, and the feedback values from BHandExt.

Constructor & Destructor Documentation

BHMotorExt::BHMotorExt ( ) [inline]

Default constructor. DO NOT USE IT !

Only provided for inheriatance reasons.

BHMotorExt::BHMotorExt ( MotorFeedback * mf ) [inline]

Constructor for BHMotorExt object.

Parameters:

MotorFeedback pointer, for force and position computation in rt mode

BHMotorExt::BHMotorExt	(	MotorFeedback *	mf,
		int	speed
	)			`[inline]`

Constructor with speed setting.

Constroucts an object with the given speed.

Parameters:

	mf	MotorFeedback pointer, for force and position computation in rt mode
	speed	Speed for finger

Member Function Documentation

int BHMotorExt::getAbsPos ( ) const [inline]

Returns Motors absolute position.

Returns the loopFeedbackAbsPos value from the FeedBack.
To get the value of the desired position use BHMotor::getPos() const
WARNING If the bit for receiving this block in rtMode you get false values!

Returns:: Motors absolute Positon. Unit: MOTOR COUNTS

int BHMotorExt::getDeltaPos ( ) const [inline]

Returns Motors delta position.

Returns the loopFeedbackDeltaPos value from the FeedBack.
WARNING If the bit for receiving this block in rtMode you get false values!

Returns:: Motors Delta position. Unit: MOTOR COUNTS

int BHMotorExt::getFeedbackVel ( ) const [inline]

Returns Motors feedback velocity.

Returns the loopFeedbackVel value from the FeedBack.
WARNING: If the bit for receiving this block in rtMode you get false values!
WARNING: The range of this value is from -127 to 127. If the real speed of a motor is higher than 127, you will receive negative value although you are moving with positiv speed. This happens if the speed you send multipled by gain and PropVelCoeff is greater than 127 (what happens very fast!).