MotorControl Class Reference
[Miscellaneous Library Utilities]

#include <MotorControl.hh>

Inherits Module.

Inherited by PositionControl.

List of all members.

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Detailed Description

Abstract base class for all motor controller modules.

The MotorControl class is an abstract base class for all modules that perform feedback control of rotational motors.

Public Member Functions
	MotorControl (char *name, int index)
virtual void	init (void)=0
virtual void	uninit (void)=0
virtual void	activate (void)=0
virtual void	deactivate (void)=0
virtual void	update (void)=0
void	getGains (MotorGains_t *g)
void	setGains (MotorGains_t *g)
void	setGains (float Kp, float Kd, float Ka=0.0)
void	getTarget (MotorTarget_t *t)
void	setTarget (MotorTarget_t *t)
Protected Attributes
DCMotorHW *	dcmotors
MotorTarget_t	target
MotorGains_t	gains
DCMotorHW::MotorParam_t	motorparams
DCMotorHW::MotorCalib_t	calib

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Constructor & Destructor Documentation

MotorControl::MotorControl (  char *  name, int  index )  [inline]

This constructor creates a motor control module with the supplied name and index. All motor control module are by definition single user

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Member Function Documentation

void MotorControl::getGains (  MotorGains_t *  g  )  [inline]

This method returns the current control gain settings.

void MotorControl::getTarget (  MotorTarget_t *  t  )  [inline]

This method returns the current control target for this module.

void MotorControl::setGains (  float  Kp, float  Kd, float  Ka = 0.0 )  [inline]

This method sets the current control gain settings through individual arguments.

void MotorControl::setGains (  MotorGains_t *  g  )  [inline]

This method sets the current control gain settings.

void MotorControl::setTarget (  MotorTarget_t *  t  )  [inline]

This method sets the current control target for this module.

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RHexLib Reference Documentation