JServoControllerStallProtected Class Reference

this child class of JServoController uses JServoStallSensing to reduce servo power More...

#include <JServoControllerStallProtected.h>

Inheritance diagram for JServoControllerStallProtected:

Collaboration diagram for JServoControllerStallProtected:

Public Member Functions
	JServoControllerStallProtected (JServoControllerAdvanced advancedServo, JServoStallSensing &servoStallSensor, float _unStallThreshold, float _stallThreshold, unsigned long _stallActivateTimeout, unsigned long _stallDeactivateTimeout)
virtual void	run ()
	call this in your main loop
bool	isStallProtectionActivated ()
unsigned long	getTimeSinceStallStateChangeMillis ()
bool	isStalled ()
bool	getStallProtectionEnable ()
void	setStallProtectionEnable (bool enableStallProtection)
Public Member Functions inherited from 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)
	Constructor for JServoControllerAdvanced, a class for controlling JMotorDriverServoAdvanced, with angle calibration and accel and velocity limiting.
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

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

Protected Attributes
bool	stalled
float	unStallThreshold
float	stallThreshold
bool	stallProtected
unsigned long	stallStateChangeMillis
bool	stallProtectionActivated
unsigned long	stallActivateTimeout
unsigned long	stallDeactivateTimeout
Protected Attributes inherited from JServoControllerAdvanced
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
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

this child class of JServoController uses JServoStallSensing to reduce servo power

Constructor & Destructor Documentation

JServoControllerStallProtected()

JServoControllerStallProtected::JServoControllerStallProtected ( JServoControllerAdvanced  advancedServo, JServoStallSensing &  servoStallSensor, float  _unStallThreshold, float  _stallThreshold, unsigned long  _stallActivateTimeout, unsigned long  _stallDeactivateTimeout  )

inline

Member Function Documentation

getStallProtectionEnable()

bool JServoControllerStallProtected::getStallProtectionEnable ( )

inline

getTimeSinceStallStateChangeMillis()

unsigned long JServoControllerStallProtected::getTimeSinceStallStateChangeMillis ( )

inline

isStalled()

bool JServoControllerStallProtected::isStalled ( )

inline

isStallProtectionActivated()

bool JServoControllerStallProtected::isStallProtectionActivated ( )

inline

run()

virtual void JServoControllerStallProtected::run ( )

inlinevirtual

call this in your main loop

Reimplemented from JServoControllerAdvanced.

setStallProtectionEnable()

void JServoControllerStallProtected::setStallProtectionEnable ( bool  enableStallProtection )

inline

Member Data Documentation

stallActivateTimeout

unsigned long JServoControllerStallProtected::stallActivateTimeout

protected

stallDeactivateTimeout

unsigned long JServoControllerStallProtected::stallDeactivateTimeout

protected

stalled

bool JServoControllerStallProtected::stalled

protected

stallProtected

bool JServoControllerStallProtected::stallProtected

protected

stallProtectionActivated

bool JServoControllerStallProtected::stallProtectionActivated

protected

stallSensor

JServoStallSensing& JServoControllerStallProtected::stallSensor

stallStateChangeMillis

unsigned long JServoControllerStallProtected::stallStateChangeMillis

protected

stallThreshold

float JServoControllerStallProtected::stallThreshold

protected

unStallThreshold

float JServoControllerStallProtected::unStallThreshold

protected

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

• src/JServoController/JServoControllerStallProtected.h