Represents the external motor encoder input. More...
#include <EncoderInput.h>
Inheritance diagram for rec::robotino::api2::EncoderInput:
Public Member Functions | |
| void | setComId (const ComId &id) |
| void | resetPosition (int position) |
| int | position () const |
| void | setPosition (int position, int velocity) |
| int | velocity () const |
| void | setVelocity (int velocity) |
| virtual void | readingsChangedEvent (int velocity, int position, float current) |
 Public Member Functions inherited from rec::robotino::api2::ComObject | |
| ComObject () | |
| virtual | ~ComObject () |
| ComId | comId () const |
Friends | |
| class | EncoderInputImpl |
Additional Inherited Members | |
| Protected Attributes inherited from rec::robotino::api2::ComObject | |
| ComId | _comID |
Detailed Description
Represents the external motor encoder input.
Member Function Documentation
| int rec::robotino::api2::EncoderInput::position | ( | ) | const |
- Returns
- Actual position in ticks since power on or resetPosition
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
|
virtual |
Called when new readings are available.
- Remarks
- This function is called from the thread in which Com::processEvents() is called.
- See also
- Com::processEvents
| void rec::robotino::api2::EncoderInput::resetPosition | ( | int | position | ) |
Set the current position to zero.
- Parameters
-
position New position after reset.
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
| void rec::robotino::api2::EncoderInput::setComId | ( | const ComId & | id | ) |
Sets the associated communication object.
- Parameters
-
id The id of the associated communication object.
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
| void rec::robotino::api2::EncoderInput::setPosition | ( | int | position, |
| int | velocity | ||
| ) |
Drive the motor until position() equals the given position set-point.
- Parameters
-
position Position set-point in encoder ticks. velocity Drive to the given position set-point with the given velocity in encoder ticks/s.
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
| void rec::robotino::api2::EncoderInput::setVelocity | ( | int | velocity | ) |
Set the motor's velocity in ticks/s.
- Parameters
-
velocity Velocity set-point in ticks/s.
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
| int rec::robotino::api2::EncoderInput::velocity | ( | ) | const |
- Returns
- The actual velocity in ticks/s
- Exceptions
-
RobotinoException if given id is invalid.
- Remarks
- This function is thread save
The documentation for this class was generated from the following file:
- C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/EncoderInput.h
