class for controlling JMotorDriverServo, with angle calibration and accel and velocity limiting More...

#include <JServoController.h>

Inheritance diagram for JServoController:

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Collaboration diagram for JServoController:

[legend]

Public Member Functions
	JServoController (JMotorDriverServo &_servo, bool _reverse=false, float velLimit=INFINITY, float accelLimit=INFINITY, float decelLimit=NAN, unsigned long _disableTimeout=0, float _minAngleLimit=0, float _maxAngleLimit=180, float _pos=90, float _minSetAngle=0, float _maxSetAngle=180, int minServoVal=544, int maxServoVal=2400, bool _preventGoingWrongWay=true, bool _preventGoingTooFast=true, float _stoppingDecelLimit=INFINITY)
	Constructor for JServoController, a class for controlling JMotorDriverServo, with angle calibration and accel and velocity limiting.

virtual void	run ()
	call this in your main loop

void	setAngleImmediate (float angle, bool _run=true)
	set servo angle immediately, without velocity or acceleration limiting

void	setAngleImmediateInc (float angleDiff, bool _run=true)
	increment servo angle and set immediately, without velocity or acceleration limiting

void	setAngleSmoothed (float angle, bool _run=true)
	set servo angle target, servo will move to target but at limited velocity and acceleration

void	setDisableTimeout (unsigned long _timeout)
	default: 0, after how many milliseconds of no movement should the servo be disabled? 0=never disable

unsigned long	getDisableTimeout ()

unsigned long	getLastMovedMillis ()
	returns the value of millis() when the servo last moved

unsigned long	getMillisSinceMoved ()
	returns the number of milliseconds since the servo last moved

void	setLastMovedMillis (unsigned long mil)
	allows for changing the variable that stores when the servo last moved

virtual bool	setEnable (bool _enable)
	enable or disable the servo (start or stop sending a signal to the servo)

bool	enable ()
	equivalent to setEnable(true)

bool	disable ()
	equivalent to setEnable(false)

bool	getEnable ()
	returns whether the servo is enabled or not

float	getPosTarget ()
	what position is the servo moving towards or at

float	getPos ()
	what position is the servo actually being set to? (slowly approaches target if smoothing is used)

float	getVelocity ()
	what rate is servo position being changed at?

bool	isPosAtTarget ()
	true if position=target, false otherwise

bool	isPosNotAtTarget ()
	equivalent to !isPosAtTarget()

float	distToTarget ()
	returns target-position

void	restartRun ()
	if you stopped calling run() for a while, call this before restarting run() to avoid a big jump in movement

bool	getActive ()
	returns whether the servo is "awake" (whether signals are being sent)

void	wake ()
	if the servo has been disabled because of inactivity, calling this function simulates the servo being told to move and wakes it up

void	setReverse (bool rev)

bool	getReverse ()

void	setAngleLimits (float _minAngleLimit, float _maxAngleLimit)

void	setMinAngleLimit (float _minAngleLimit)

void	setMaxAngleLimit (float _maxAngleLimit)

float	getMinAngleLimit ()

float	getMaxAngleLimit ()

float	getAngleLimitRange ()

void	setSetAngles (float _minSetAngle, float _maxSetAngle)

void	setMinSetAngle (float _minSetAngle)

void	setMaxSetAngle (float _maxSetAngle)

float	getAccelLimit ()
	returns value of accelLimit

float	getDecelLimit ()

float	getVelLimit ()
	returns value of velLimit

void	setAccelLimit (float accelLim)
	set maximum rate that motor speed can be changed at

void	setAccelAndDecelLimits (float accelLim, float decelLim=NAN)

void	setDecelLimit (float decelLim=NAN)

void	setVelLimit (float velLim)
	set maximum motor speed

void	setVelAccelLimits (float velLim, float accelLim, float decelLim=NAN)

void	setPosition (float pos, bool _run=true)
	sets servo position, leaves target where it was

void	setMinServoValue (int value)
	microseconds for shortest servo pulse

void	setMaxServoValue (int value)
	microseconds for longest servo pulse

void	setServoRangeValues (int min, int max)
	set the settings for short and long servo pulses at the same time

int	getMinServoRangeValue ()
	returns setting for microseconds for shortest servo pulse

int	getMaxServoRangeValue ()
	returns setting for microseconds for longest servo pulse

int	getServoValueRange ()
	returns difference (in microseconds) between longest and shortest servo pulse settings

int	getSetMicroseconds ()
	returns how many microseconds the servo signal pulse was most recently set to

bool	getConstrainRange ()
	returns whether the range of set() will be constrained to within -1 and 1

void	setConstrainRange (bool _constrainRange)
	set whether the range of set() will be constrained to within -1 and 1

void	setVel (float vel, bool _run=true)
	set velocity for controller

void	setVelTarget (float vel, bool _run=true)
	set target velocity for controller (acceleration limited)

float	getVelTarget ()
	get target velocity for controller

float	getVel ()
	get current velocity of motor

float	getDriverSetVal ()
	returns the value the motor driver is being set to

bool	isDriverInRange ()
	true if motor driver is being set to within its range, false if driver is at a maximum

float	getDriverMinRange ()
	if getDriverSetVal goes below this, isDriverInRange will go false

float	getDriverMaxRange ()
	if getDriverSetVal exceeds this, isDriverInRange will go false

float	getMaxVel ()
	How fast of a motor speed setting would get adjusted to full motor power.

float	getMinVel ()
	slowest speed motor can go

void	setMaxDriverRangeAmount (float _driverRangeAmount)
	set what fraction of driverRange can be used

bool	setPosTarget (float _posTarget, bool _run=true)
	set target position (motor drives towards position, following acceleration profile)

bool	setPosSetpoint (float _posSetpoint, bool _run=true)
	set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

bool	setPosDelta (float _posDelta, bool _run=true, bool _resetPos=false)
	alternative method for setting velocity that uses setPosSetpoint

float	getPosSetpoint ()
	get position controller is currently trying to get to

float	resetPos ()
	reset what position the controller thinks it's in

bool	isPosModeNotVelocity ()
	true if controller is in position target mode, false if in velocity mode

Public Attributes
Derivs_Limiter	dL
	instance of Derivs_Limiter class used to smoothly move servo

Protected Member Functions
void	writeAngleToServo (float ang)

float	floatMap (float x, float in_min, float in_max, float out_min, float out_max)

Protected Attributes
JMotorDriverServo &	servo
	reference to driver that's a subclass of JMotorDriverServo

unsigned long	disableTimeout
	variable for how long to wait if not moved before disabling (default: 0, never disable)

float	minAngleLimit
	lower limit for angle setpoint

float	maxAngleLimit
	higher limit for angle setpoint

float	minSetAngle
	when servodriver is set to getMinValue what angle is the servo?

float	maxSetAngle
	when servodriver is set to getMaxValue what angle is the servo?

bool	reverse
	reverse range of servo

unsigned long	lastMovedMillis
	variable used to keep track of how long the servo has been still for

bool	enabled
	keep track of whether controller is enabled (since even when controller is enabled driver might be disabled if timedout and sleeping)

bool	sleeping
	has it been longer than disableTimeout since the servo has moved?

Detailed Description

class for controlling JMotorDriverServo, with angle calibration and accel and velocity limiting

Note: after creating a ServoController object with a ServoDriver, using the Driver's methods directly is not recommended

Constructor & Destructor Documentation

◆ JServoController()

JServoController::JServoController	(	JMotorDriverServo &	_servo,
		bool	_reverse = `false`,
		float	velLimit = `INFINITY`,
		float	accelLimit = `INFINITY`,
		float	decelLimit = `NAN`,
		unsigned long	_disableTimeout = `0`,
		float	_minAngleLimit = `0`,
		float	_maxAngleLimit = `180`,
		float	_pos = `90`,
		float	_minSetAngle = `0`,
		float	_maxSetAngle = `180`,
		int	minServoVal = `544`,
		int	maxServoVal = `2400`,
		bool	_preventGoingWrongWay = `true`,
		bool	_preventGoingTooFast = `true`,
		float	_stoppingDecelLimit = `INFINITY`
	)

inline

Constructor for JServoController, a class for controlling JMotorDriverServo, with angle calibration and accel and velocity limiting.

Parameters

_servo	(JMotorDriverServo&) reference to an instance of a class that's a subclass of JMotorDriverServo
_reverse	(bool) default: false, use to reverse direction of servo
velLimit	(float) default: INFINITY, maximum velocity you want the servo to move at in limited mode
accelLimit	(float) default: INFINITY, maximum acceleration you want the servo to move at in limited mode
decelLimit	(float) default: NAN, maximum deceleration you want the servo to move at in limited mode, NAN= use accelLimit
_disableTimeout	(unsigned long) default: 0, after how many milliseconds of no movement should the servo be disabled? 0=never disable
_minAngleLimit	(float) minimum angle limit for servo
_maxAngleLimit	(float) maximum angle limit for servo
_pos	(float) default: 90, value to set servo position to at startup
_minSetAngle	(float) default: 0, when servo driver is set to its minimum (probably -1) what angle does the servo go to?
_maxSetAngle	(float) default: 180, when servo driver is set to its maximum (probably 1) what angle does the servo go to?
minServoVal	(int) default: 544, microseconds for servo signal pulse for minimum angle
maxServoVal	(int) default: 2400, microseconds for servo signal pulse for maximum angle
_preventGoingWrongWay	(bool) default: true, immediately stop if going away from target
_preventGoingTooFast	(bool) default: true, immediately slow down if set to a speed above velLimit
_stoppingDecelLimit	(float) default: INFINITY, how much extra deceleration can be used to stop the servo in time (if the target moves towards the servo's position)

Member Function Documentation

◆ disable()

bool JServoController::disable ( )

inlinevirtual

equivalent to setEnable(false)

Implements JMotorControllerBase.

◆ distToTarget()

float JServoController::distToTarget ( )

inline

returns target-position

Return values

(float)

◆ enable()

bool JServoController::enable ( )

inlinevirtual

equivalent to setEnable(true)

Implements JMotorControllerBase.

◆ floatMap()

float JServoController::floatMap	(	float	x,
		float	in_min,
		float	in_max,
		float	out_min,
		float	out_max
	)

inlineprotected

◆ getAccelLimit()

float JServoController::getAccelLimit ( )

inlinevirtual

returns value of accelLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getActive()

bool JServoController::getActive ( )

inline

returns whether the servo is "awake" (whether signals are being sent)

Return values

(bool)

◆ getAngleLimitRange()

float JServoController::getAngleLimitRange ( )

inline

◆ getConstrainRange()

bool JServoController::getConstrainRange ( )

inline

returns whether the range of set() will be constrained to within -1 and 1

Return values

(bool)

◆ getDecelLimit()

float JServoController::getDecelLimit ( )

inline

◆ getDisableTimeout()

unsigned long JServoController::getDisableTimeout ( )

inline

◆ getDriverMaxRange()

float JServoController::getDriverMaxRange ( )

inlinevirtual

if getDriverSetVal exceeds this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverMinRange()

float JServoController::getDriverMinRange ( )

inlinevirtual

if getDriverSetVal goes below this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverSetVal()

float JServoController::getDriverSetVal ( )

inlinevirtual

returns the value the motor driver is being set to

Return values

(float)

Implements JMotorControllerBase.

◆ getEnable()

bool JServoController::getEnable ( )

inlinevirtual

returns whether the servo is enabled or not

Return values

(bool)

Implements JMotorControllerBase.

◆ getLastMovedMillis()

unsigned long JServoController::getLastMovedMillis ( )

inline

returns the value of millis() when the servo last moved

Return values

(unsigned long)

◆ getMaxAngleLimit()

float JServoController::getMaxAngleLimit ( )

inline

◆ getMaxServoRangeValue()

int JServoController::getMaxServoRangeValue ( )

inline

returns setting for microseconds for longest servo pulse

Return values

(int)

◆ getMaxVel()

float JServoController::getMaxVel ( )

inlinevirtual

How fast of a motor speed setting would get adjusted to full motor power.

Note: may change as battery voltage changes

Return values

(float)

Implements JMotorControllerBase.

◆ getMillisSinceMoved()

unsigned long JServoController::getMillisSinceMoved ( )

inline

returns the number of milliseconds since the servo last moved

Return values

(unsigned long)

◆ getMinAngleLimit()

float JServoController::getMinAngleLimit ( )

inline

◆ getMinServoRangeValue()

int JServoController::getMinServoRangeValue ( )

inline

returns setting for microseconds for shortest servo pulse

Return values

(int)

◆ getMinVel()

float JServoController::getMinVel ( )

inlinevirtual

slowest speed motor can go

Implements JMotorControllerBase.

◆ getPos()

float JServoController::getPos ( )

inlinevirtual

what position is the servo actually being set to? (slowly approaches target if smoothing is used)

Return values

(float)

Implements JMotorController.

◆ getPosSetpoint()

float JServoController::getPosSetpoint ( )

inlinevirtual

get position controller is currently trying to get to

Return values

(float)

Implements JMotorController.

◆ getPosTarget()

float JServoController::getPosTarget ( )

inlinevirtual

what position is the servo moving towards or at

Return values

(float)

Implements JMotorController.

◆ getReverse()

bool JServoController::getReverse ( )

inline

◆ getServoValueRange()

int JServoController::getServoValueRange ( )

inline

returns difference (in microseconds) between longest and shortest servo pulse settings

Return values

(int)

◆ getSetMicroseconds()

int JServoController::getSetMicroseconds ( )

inline

returns how many microseconds the servo signal pulse was most recently set to

Return values

(int)

◆ getVel()

float JServoController::getVel ( )

inlinevirtual

get current velocity of motor

Return values

(float)

Implements JMotorControllerBase.

◆ getVelLimit()

float JServoController::getVelLimit ( )

inlinevirtual

returns value of velLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getVelocity()

float JServoController::getVelocity ( )

inline

what rate is servo position being changed at?

Return values

(float)

◆ getVelTarget()

float JServoController::getVelTarget ( )

inlinevirtual

get target velocity for controller

Return values

(float) current velocity target

Implements JMotorControllerBase.

◆ isDriverInRange()

bool JServoController::isDriverInRange ( )

inlinevirtual

true if motor driver is being set to within its range, false if driver is at a maximum

Return values

(bool)

Implements JMotorControllerBase.

◆ isPosAtTarget()

bool JServoController::isPosAtTarget ( )

inline

true if position=target, false otherwise

Return values

(bool)

◆ isPosModeNotVelocity()

bool JServoController::isPosModeNotVelocity ( )

inlinevirtual

true if controller is in position target mode, false if in velocity mode

Return values

(bool)

Implements JMotorController.

◆ isPosNotAtTarget()

bool JServoController::isPosNotAtTarget ( )

inline

equivalent to !isPosAtTarget()

Return values

(bool)

◆ resetPos()

float JServoController::resetPos ( )

inlinevirtual

reset what position the controller thinks it's in

Note: don't drive too far without resetting this so that the limited precision of floats doesn't become a problem.

Return values

(float) returns old position

Implements JMotorController.

◆ restartRun()

void JServoController::restartRun ( )

inline

if you stopped calling run() for a while, call this before restarting run() to avoid a big jump in movement

◆ run()

virtual void JServoController::run ( )

inlinevirtual

call this in your main loop

Implements JMotorControllerBase.

Reimplemented in JServoControllerAdvanced, JServoControllerGentle, and JServoControllerStallProtected.

◆ setAccelAndDecelLimits()

void JServoController::setAccelAndDecelLimits	(	float	accelLim,
		float	decelLim = `NAN`
	)

inline

◆ setAccelLimit()

void JServoController::setAccelLimit ( float _accelLimit )

inlinevirtual

set maximum rate that motor speed can be changed at

Note: set to INFINITY to disable acceleration limiting

Parameters

_accelLimit (float)

Implements JMotorControllerBase.

◆ setAngleImmediate()

void JServoController::setAngleImmediate	(	float	angle,
		bool	_run = `true`
	)

inline

set servo angle immediately, without velocity or acceleration limiting

Parameters

angle	(float) angle to set
_run	(bool) default: true, true = call run() in this function, false = you'll call run() yourself

◆ setAngleImmediateInc()

void JServoController::setAngleImmediateInc	(	float	angleDiff,
		bool	_run = `true`
	)

inline

increment servo angle and set immediately, without velocity or acceleration limiting

Parameters

angleDiff	(float) angle change to set
_run	(bool) default: true, true = call run() in this function, false = you'll call run() yourself

◆ setAngleLimits()

void JServoController::setAngleLimits	(	float	_minAngleLimit,
		float	_maxAngleLimit
	)

inline

◆ setAngleSmoothed()

void JServoController::setAngleSmoothed	(	float	angle,
		bool	_run = `true`
	)

inline

set servo angle target, servo will move to target but at limited velocity and acceleration

Parameters

angle	(float) angle to set
_run	(bool) default: true, true = call run() in this function, false = you'll call run() yourself

◆ setConstrainRange()

void JServoController::setConstrainRange ( bool _constrainRange )

inline

set whether the range of set() will be constrained to within -1 and 1

Parameters

_constrainRange (bool)

◆ setDecelLimit()

void JServoController::setDecelLimit ( float decelLim = NAN )

inline

◆ setDisableTimeout()

void JServoController::setDisableTimeout ( unsigned long _timeout )

inline

default: 0, after how many milliseconds of no movement should the servo be disabled? 0=never disable

Parameters

_timeout (unsigned long)

◆ setEnable()

virtual bool JServoController::setEnable ( bool _enable )

inlinevirtual

enable or disable the servo (start or stop sending a signal to the servo)

Note: some (nicer digital) servos may not turn off their motors when the signal is stopped, but cheap servos usually do

Parameters

_enable (bool) true=enable, false=disable

Return values

(bool) true if state changed, otherwise false

Implements JMotorControllerBase.

Reimplemented in JServoControllerAdvanced.

◆ setLastMovedMillis()

void JServoController::setLastMovedMillis ( unsigned long mil )

inline

allows for changing the variable that stores when the servo last moved

Note: use with caution: if you just want to make the servo start receiving signals again use wake()

Parameters

mil	(unsigned long)

◆ setMaxAngleLimit()

void JServoController::setMaxAngleLimit ( float _maxAngleLimit )

inline

◆ setMaxDriverRangeAmount()

void JServoController::setMaxDriverRangeAmount ( float _driverRangeAmount )

inlinevirtual

set what fraction of driverRange can be used

Parameters

_driverRangeAmount (float)

Implements JMotorControllerBase.

◆ setMaxServoValue()

void JServoController::setMaxServoValue ( int value )

inline

microseconds for longest servo pulse

Parameters

value (int)

◆ setMaxSetAngle()

void JServoController::setMaxSetAngle ( float _maxSetAngle )

inline

◆ setMinAngleLimit()

void JServoController::setMinAngleLimit ( float _minAngleLimit )

inline

◆ setMinServoValue()

void JServoController::setMinServoValue ( int value )

inline

microseconds for shortest servo pulse

Parameters

value (int)

◆ setMinSetAngle()

void JServoController::setMinSetAngle ( float _minSetAngle )

inline

◆ setPosDelta()

bool JServoController::setPosDelta	(	float	_posDelta,
		bool	_run = `true`,
		bool	_resetPos = `false`
	)

inlinevirtual

alternative method for setting velocity that uses setPosSetpoint

Note: handles velocities below getMinVel(), and may have better distance accuracy, doesn't smooth velocity

Parameters

_posDelta	(float) basically velocity
_resetPos	(bool) default=false, keep setting current position to zero
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setting change?

Implements JMotorController.

◆ setPosition()

void JServoController::setPosition	(	float	pos,
		bool	_run = `true`
	)

inline

sets servo position, leaves target where it was

Parameters

pos	(float)
_run	(bool) default: true, true = call run() in this function, false = you'll call run() yourself

◆ setPosSetpoint()

bool JServoController::setPosSetpoint	(	float	_posSetpoint,
		bool	_run = `true`
	)

inlinevirtual

set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

Note: run() needs to be called in order for the motor to move

Parameters

_posSetpoint	(float) position setpoint
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setpoint change?

Implements JMotorController.

◆ setPosTarget()

bool JServoController::setPosTarget	(	float	_posTarget,
		bool	_run = `true`
	)

inlinevirtual

set target position (motor drives towards position, following acceleration profile)

Parameters

_posTarget	(float) target position
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the target change?

Implements JMotorController.

◆ setReverse()

void JServoController::setReverse ( bool rev )

inline

◆ setServoRangeValues()

void JServoController::setServoRangeValues	(	int	min,
		int	max
	)

inline

set the settings for short and long servo pulses at the same time

Parameters

min	(int) microseconds, often 544
max	(int) microseconds, often 2400

◆ setSetAngles()

void JServoController::setSetAngles	(	float	_minSetAngle,
		float	_maxSetAngle
	)

inline

◆ setVel()

void JServoController::setVel	(	float	vel,
		bool	_run = `true`
	)

inlinevirtual

set velocity for controller

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

vel	(float)
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Implements JMotorControllerBase.

◆ setVelAccelLimits()

void JServoController::setVelAccelLimits	(	float	velLim,
		float	accelLim,
		float	decelLim = `NAN`
	)

inline

◆ setVelLimit()

void JServoController::setVelLimit ( float _velLimit )

inlinevirtual

set maximum motor speed

Note: set to INFINITY to disable limit

Parameters

_velLimit (float)

Implements JMotorController.

◆ setVelTarget()

void JServoController::setVelTarget	(	float	vel,
		bool	_run = `true`
	)

inlinevirtual

set target velocity for controller (acceleration limited)

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

vel	(float) target velocity
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Implements JMotorControllerBase.

◆ wake()

void JServoController::wake ( )

inline

if the servo has been disabled because of inactivity, calling this function simulates the servo being told to move and wakes it up

Note: lastMovedMillis is set to millis() even though there was no movement

◆ writeAngleToServo()

void JServoController::writeAngleToServo ( float ang )

inlineprotected

Member Data Documentation

◆ disableTimeout

unsigned long JServoController::disableTimeout

protected

variable for how long to wait if not moved before disabling (default: 0, never disable)

◆ dL

Derivs_Limiter JServoController::dL

instance of Derivs_Limiter class used to smoothly move servo

Note: use ServoController functions whenever possible rather than directly accessing this.; https://github.com/joshua-8/Derivs_Limiter

◆ enabled

bool JServoController::enabled

protected

keep track of whether controller is enabled (since even when controller is enabled driver might be disabled if timedout and sleeping)

◆ lastMovedMillis

unsigned long JServoController::lastMovedMillis

protected

variable used to keep track of how long the servo has been still for

◆ maxAngleLimit

float JServoController::maxAngleLimit

protected

higher limit for angle setpoint

Note: (if less than minAngleLimit, direction is reversed)

◆ maxSetAngle

float JServoController::maxSetAngle

protected

when servodriver is set to getMaxValue what angle is the servo?

◆ minAngleLimit

float JServoController::minAngleLimit

protected

lower limit for angle setpoint

Note: (if greater than maxAngleLimit, direction is reversed)

◆ minSetAngle

float JServoController::minSetAngle

protected

when servodriver is set to getMinValue what angle is the servo?

◆ reverse

bool JServoController::reverse

protected

reverse range of servo

◆ servo

JMotorDriverServo& JServoController::servo

protected

reference to driver that's a subclass of JMotorDriverServo

◆ sleeping

bool JServoController::sleeping

protected

has it been longer than disableTimeout since the servo has moved?

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

src/JServoController/JServoController.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JServoController()

Member Function Documentation

◆ disable()

◆ distToTarget()

◆ enable()

◆ floatMap()

◆ getAccelLimit()

◆ getActive()

◆ getAngleLimitRange()

◆ getConstrainRange()

◆ getDecelLimit()

◆ getDisableTimeout()

◆ getDriverMaxRange()

◆ getDriverMinRange()

◆ getDriverSetVal()

◆ getEnable()

◆ getLastMovedMillis()

◆ getMaxAngleLimit()

◆ getMaxServoRangeValue()

◆ getMaxVel()

◆ getMillisSinceMoved()

◆ getMinAngleLimit()

◆ getMinServoRangeValue()

◆ getMinVel()

◆ getPos()

◆ getPosSetpoint()

◆ getPosTarget()

◆ getReverse()

◆ getServoValueRange()

◆ getSetMicroseconds()

◆ getVel()

◆ getVelLimit()

◆ getVelocity()

◆ getVelTarget()

◆ isDriverInRange()

◆ isPosAtTarget()

◆ isPosModeNotVelocity()

◆ isPosNotAtTarget()

◆ resetPos()

◆ restartRun()

◆ run()

◆ setAccelAndDecelLimits()

◆ setAccelLimit()

◆ setAngleImmediate()

◆ setAngleImmediateInc()

◆ setAngleLimits()

◆ setAngleSmoothed()

◆ setConstrainRange()

◆ setDecelLimit()

◆ setDisableTimeout()

◆ setEnable()

◆ setLastMovedMillis()

◆ setMaxAngleLimit()

◆ setMaxDriverRangeAmount()

◆ setMaxServoValue()

◆ setMaxSetAngle()

◆ setMinAngleLimit()

◆ setMinServoValue()

◆ setMinSetAngle()

◆ setPosDelta()

◆ setPosition()

◆ setPosSetpoint()

◆ setPosTarget()

◆ setReverse()

◆ setServoRangeValues()

◆ setSetAngles()

◆ setVel()

◆ setVelAccelLimits()

◆ setVelLimit()

◆ setVelTarget()

◆ wake()

◆ writeAngleToServo()

Member Data Documentation

◆ disableTimeout