JServoControllerGentle is an extension of JServoController that uses JServoStallSensing to make a servo grip with a specific amount of force. More...

#include <JServoControllerGentle.h>

Inheritance diagram for JServoControllerGentle:

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Collaboration diagram for JServoControllerGentle:

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Public Member Functions
	JServoControllerGentle (JServoControllerAdvanced servo, JServoStallSensing &servoStallSensor, float _targetForce=.05, float _gripSpeed=30)
	Constructor for JServoController Gentle (a child class of JServoController)

virtual void	run ()
	call this in your main loop

void	gripGently (bool _dirPos, float _targetForce=NAN, float _gripSpeed=NAN, bool _run=false)
	have the servo move until it is pushing with a set amount of force

void	setPosition (float pos, bool _run)

void	setAngleImmediate (float angle, bool _run=true)

void	setAngleImmediateInc (float angleDiff, bool _run=true)

void	setAngleSmoothed (float angle, bool _run=true)

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

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
bool	grippingGently
	true=gripping, false = other servo movmement set

JServoStallSensing &	stallSensor

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

Protected Attributes
bool	gripDirPos

float	targetForce

float	gripSpeed

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
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

JServoControllerGentle is an extension of JServoController that uses JServoStallSensing to make a servo grip with a specific amount of force.

Constructor & Destructor Documentation

◆ JServoControllerGentle()

JServoControllerGentle::JServoControllerGentle	(	JServoControllerAdvanced	servo,
		JServoStallSensing &	servoStallSensor,
		float	_targetForce = `.05`,
		float	_gripSpeed = `30`
	)

inline

Constructor for JServoController Gentle (a child class of JServoController)

Parameters

servo
servoStallSensor
_targetForce	target force as measured by JServoStallSensing (if set too low, gripping may not work since just moving the servo could take more than the set power)
_gripSpeed

Member Function Documentation

◆ gripGently()

void JServoControllerGentle::gripGently	(	bool	_dirPos,
		float	_targetForce = `NAN`,
		float	_gripSpeed = `NAN`,
		bool	_run = `false`
	)

inline

have the servo move until it is pushing with a set amount of force

Parameters

_dirPos	(bool) true = move in positive direction, false = move in negative direction
_targetForce	(float, default NAN) if not NAN, override default setting for how hard to grip
_gripSpeed	(float, default NAN) if not NAN, override default setting for how fast to move
_run	(bool, default false) true = call run() in this function, false = you'll call run() yourself

◆ run()

virtual void JServoControllerGentle::run ( )

inlinevirtual

call this in your main loop

Reimplemented from JServoController.

◆ setAngleImmediate()

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

inline

◆ setAngleImmediateInc()

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

inline

◆ setAngleSmoothed()

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

inline

◆ setPosition()

void JServoControllerGentle::setPosition	(	float	pos,
		bool	_run
	)

inline

Member Data Documentation

◆ gripDirPos

bool JServoControllerGentle::gripDirPos

protected

◆ grippingGently

bool JServoControllerGentle::grippingGently

true=gripping, false = other servo movmement set

◆ gripSpeed

float JServoControllerGentle::gripSpeed

protected

◆ stallSensor

JServoStallSensing& JServoControllerGentle::stallSensor

◆ targetForce

float JServoControllerGentle::targetForce

protected

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

src/JServoController/JServoControllerGentle.h

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JServoControllerGentle()

Member Function Documentation

◆ gripGently()

◆ run()

◆ setAngleImmediate()

◆ setAngleImmediateInc()

◆ setAngleSmoothed()

◆ setPosition()

Member Data Documentation

◆ gripDirPos

◆ grippingGently

◆ gripSpeed

◆ stallSensor

◆ targetForce