JServoControllerAdvanced Class Reference

class for controlling JMotorDriverServoAdvanced, with power reducing option along with standard JServoController features More...

#include <JServoControllerAdvanced.h>

Inheritance diagram for JServoControllerAdvanced:

Collaboration diagram for JServoControllerAdvanced:

Public Member Functions
	JServoControllerAdvanced (JMotorDriverServoAdvanced &_servo, float _weakFreq=.5, unsigned long _weakenTimeout=0, float _normalFreq=1.0, unsigned long _startWeakTimeout=0, 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 JServoControllerAdvanced, a class for controlling JMotorDriverServoAdvanced, with angle calibration and accel and velocity limiting.
virtual void	run ()
	call this in your main loop
bool	setEnable (bool _enable)
	enable or disable the servo (start or stop sending a signal to the servo)
void	setStrengthWeak ()
	set servo to weaker setting
void	setStrengthNormal ()
	set servo to normal setting
void	adjustServoFrequency (float freq=1.0)
	adjust frequency as a fraction of standard 50hz frequency lower frequencies (try .75) may let you reduce how strongly the servo holds its position
void	setWeakFreq (float _weak)
	change setting for what fraction of normal frequency the signal should go to in order to weaken the servo's strength
void	setNormalFreq (float _norm)
bool	getWeakened ()
void	setWeakTimeout (unsigned long _timeout)
unsigned long	getWeakenTimeout ()
void	setStartWeakTimeout (unsigned long _timeout)
unsigned long	getStartWeakTimeout ()
float	getWeakFreq ()
float	getNormalFreq ()
Public Member Functions inherited from 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)
	Constructor for JServoController, a class for controlling JMotorDriverServo, with angle calibration and accel and velocity limiting.
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
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

Protected Attributes
JMotorDriverServoAdvanced &	adServo
	reference to the servo motor driver
unsigned long	weakenTimeout
float	defaultFreq
float	weakFreq
bool	weakened
unsigned long	startWeakTimeout
unsigned long	enabledMillis
Protected Attributes inherited from JServoController
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?

Additional Inherited Members
Public Attributes inherited from JServoController
Derivs_Limiter	dL
	instance of Derivs_Limiter class used to smoothly move servo
Protected Member Functions inherited from JServoController
void	writeAngleToServo (float ang)
float	floatMap (float x, float in_min, float in_max, float out_min, float out_max)

Detailed Description

class for controlling JMotorDriverServoAdvanced, with power reducing option along with standard JServoController features

Note

this servo controller supports adjusting the servo signal frequency which for many servos can change how hard the servos push

Constructor & Destructor Documentation

JServoControllerAdvanced()

JServoControllerAdvanced::JServoControllerAdvanced ( JMotorDriverServoAdvanced &  _servo, float  _weakFreq = .5, unsigned long  _weakenTimeout = 0, float  _normalFreq = 1.0, unsigned long  _startWeakTimeout = 0, 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 JServoControllerAdvanced, a class for controlling JMotorDriverServoAdvanced, with angle calibration and accel and velocity limiting.

Note

the "advanced" servo driver supports adjusting the servo signal frequency

Parameters

_servo	(JMotorDriverServoAdvanced&) reference to an instance of a class that's a subclass of JMotorDriverServo
_weakFreq	(float) default: .5, what fraction of normal frequency the signal should go to in order to weaken the servo's strength
_weakenTimeout	(unsigned long) default: 0, after how many milliseconds of no movement should the servo be set to lower power? 0=never switch to low power
_normalFreq	(float) default: 1, what fraction of 50Hz should be used
_startWeakTimeout	(unsigned long) default 0, how many milliseconds after enabling should the servo be in weakened mode (to soften jumps at startup)? 0=inactive
_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

adjustServoFrequency()

void JServoControllerAdvanced::adjustServoFrequency ( float  freq = 1.0 )

inline

adjust frequency as a fraction of standard 50hz frequency lower frequencies (try .75) may let you reduce how strongly the servo holds its position

Note

different servos may respond differently to non-normal signals, including possibly being damaged, so use at your own risk!

Parameters

freq	(float) freq*50=setFrequency

getNormalFreq()

float JServoControllerAdvanced::getNormalFreq ( )

inline

getStartWeakTimeout()

unsigned long JServoControllerAdvanced::getStartWeakTimeout ( )

inline

getWeakened()

bool JServoControllerAdvanced::getWeakened ( )

inline

getWeakenTimeout()

unsigned long JServoControllerAdvanced::getWeakenTimeout ( )

inline

getWeakFreq()

float JServoControllerAdvanced::getWeakFreq ( )

inline

run()

virtual void JServoControllerAdvanced::run ( )

inlinevirtual

call this in your main loop

Reimplemented from JServoController.

Reimplemented in JServoControllerStallProtected.

setEnable()

bool JServoControllerAdvanced::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

Reimplemented from JServoController.

setNormalFreq()

void JServoControllerAdvanced::setNormalFreq ( float  _norm )

inline

setStartWeakTimeout()

void JServoControllerAdvanced::setStartWeakTimeout ( unsigned long  _timeout )

inline

setStrengthNormal()

void JServoControllerAdvanced::setStrengthNormal ( )

inline

set servo to normal setting

setStrengthWeak()

void JServoControllerAdvanced::setStrengthWeak ( )

inline

set servo to weaker setting

setWeakFreq()

void JServoControllerAdvanced::setWeakFreq ( float  _weak )

inline

change setting for what fraction of normal frequency the signal should go to in order to weaken the servo's strength

Parameters

_weak

(float)

setWeakTimeout()

void JServoControllerAdvanced::setWeakTimeout ( unsigned long  _timeout )

inline

Note

if set to zero (disabling weakening after a timeout) strength remains at the last set value until you use setStrengthWeak() or setStrengthNormal()

Member Data Documentation

adServo

JMotorDriverServoAdvanced& JServoControllerAdvanced::adServo

protected

reference to the servo motor driver

Note

this reference is of the advanced type so can set frequency.

Return values

None

defaultFreq

float JServoControllerAdvanced::defaultFreq

protected

enabledMillis

unsigned long JServoControllerAdvanced::enabledMillis

protected

startWeakTimeout

unsigned long JServoControllerAdvanced::startWeakTimeout

protected

weakened

bool JServoControllerAdvanced::weakened

protected

weakenTimeout

unsigned long JServoControllerAdvanced::weakenTimeout

protected

weakFreq

float JServoControllerAdvanced::weakFreq

protected

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

• src/JServoController/JServoControllerAdvanced.h