This class controls connected servos. More...

#include <servo.h>

Collaboration diagram for Servo:

Public Slots
void	init (void)
bool	moveServo (unsigned char servo, unsigned char position)
void	setRobotState (bool state)

Signals
void	message (QString text)

Public Member Functions
unsigned char	getServoPosition (int servo, unsigned char type=SVCURRENT)
	Servo (InterfaceAvr i, QMutex m)
void	setServoPosition (int servo, unsigned char type, unsigned char position)
	~Servo ()

Private Attributes
QString	className
InterfaceAvr *	interface1
QMutex *	mutex
	this will contain the name of this class at runtime.
bool	robotState
int	servoDefaultPosition [NUMBEROFSERVOS]
int	servoEndPosition [NUMBEROFSERVOS]
int	servoMaxPosition [NUMBEROFSERVOS]
int	servoMinPosition [NUMBEROFSERVOS]
int	servoPosition [NUMBEROFSERVOS]
int	servoStartPosition [NUMBEROFSERVOS]

Static Private Attributes
static const unsigned char	NUMBEROFSERVOS = 6
	defines the size of the servo[] arrays.
static const bool	OFF = false
static const bool	ON = true
	the current position of the servo!
static const unsigned char	SERVO1 = 0
	the servo numbers
static const unsigned char	SERVO2 = 1
static const unsigned char	SERVO3 = 2
static const unsigned char	SERVO4 = 3
static const unsigned char	SERVO5 = 4
static const unsigned char	SERVO6 = 5
static const unsigned char	SET_SERVO1 = 42
	the command for the microcontroller
static const unsigned char	SET_SERVO2 = 43
static const unsigned char	SET_SERVO3 = 44
static const unsigned char	SET_SERVO4 = 45
static const unsigned char	SET_SERVO5 = 46
static const unsigned char	SET_SERVO6 = 47
static const unsigned char	SVCURRENT = 3
static const unsigned char	SVDEFAULT = 2
static const unsigned char	SVEND = 1
static const unsigned char	SVMAX = 5
static const unsigned char	SVMIN = 4
static const unsigned char	SVSTART = 0
	the possible servo data
static const unsigned long	THREADSLEEPTIME = 100

Detailed Description

This class controls connected servos.

Author:: Markus Knapp It has to be a thread because of communicating at the same time with the microcontroller via the class.

See also:: InterfaceAvr() !

Definition at line 38 of file servo.h.

Constructor & Destructor Documentation

Servo::Servo	(	InterfaceAvr *	i,
		QMutex *	m
	)

Definition at line 23 of file servo.cpp.

Servo::~Servo ( )

Definition at line 47 of file servo.cpp.

Member Function Documentation

unsigned char Servo::getServoPosition	(	int	servo,
		unsigned char	type = `SVCURRENT`
	)

Returns the servo start, end, default or current position.

Parameters:

servo	is the servo number.
type	can be SVMIN, SVMAX, SVSTART, SVEND, SVDEFAULT or SVCURRENT=default

Returns:: the servo position (0 - 255)

Definition at line 171 of file servo.cpp.

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void Servo::init ( void )

slot

Moves all servos into their default positions.

Definition at line 158 of file servo.cpp.

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void Servo::message ( QString text )

signal

Emits a message to be displayed in the GUI or be used somewhere else (e.g. error message).

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bool Servo::moveServo	(	unsigned char	servo,
		unsigned char	position
	)

slot

Moves a servo.

Parameters:

servo	is the servo number.
position	is the position (0 - 255).

Returns:: true on success

Definition at line 52 of file servo.cpp.

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void Servo::setRobotState ( bool state )

slot

This slots takes the robot (circuit) state, to know if the robot is ON or OFF. When the class knows this, unnecessary communication with the interface can be avoided.

Parameters:

state can be ON or OFF

Definition at line 207 of file servo.cpp.

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void Servo::setServoPosition	(	int	servo,
		unsigned char	type,
		unsigned char	position
	)

Sets the servos maximum start, end and its default position.

Parameters:

servo	is the servo number.
type	can be SVMIN, SVMAX, SVSTART, SVEND, SVDEFAULT or SVCURRENT
position	is the position (0 - 255).

Definition at line 112 of file servo.cpp.

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Member Data Documentation

QString Servo::className

private

Definition at line 93 of file servo.h.

InterfaceAvr* Servo::interface1

private

Definition at line 95 of file servo.h.

QMutex* Servo::mutex

mutableprivate

this will contain the name of this class at runtime.

See also:: takeCommandAnswer()

Definition at line 94 of file servo.h.

const unsigned char Servo::NUMBEROFSERVOS = 6

staticprivate

defines the size of the servo[] arrays.

Definition at line 103 of file servo.h.

const bool Servo::OFF = false

staticprivate

For motor or robot "ON"

Definition at line 113 of file servo.h.

const bool Servo::ON = true

staticprivate

the current position of the servo!

Definition at line 112 of file servo.h.

bool Servo::robotState

private

Definition at line 96 of file servo.h.

const unsigned char Servo::SERVO1 = 0

staticprivate

the servo numbers

Definition at line 124 of file servo.h.

const unsigned char Servo::SERVO2 = 1

staticprivate

Definition at line 125 of file servo.h.

const unsigned char Servo::SERVO3 = 2

staticprivate

Definition at line 126 of file servo.h.

const unsigned char Servo::SERVO4 = 3

staticprivate

Definition at line 127 of file servo.h.

const unsigned char Servo::SERVO5 = 4

staticprivate

Definition at line 128 of file servo.h.

const unsigned char Servo::SERVO6 = 5

staticprivate

Definition at line 129 of file servo.h.

int Servo::servoDefaultPosition[NUMBEROFSERVOS]

private

Definition at line 108 of file servo.h.

int Servo::servoEndPosition[NUMBEROFSERVOS]

private

Definition at line 105 of file servo.h.

int Servo::servoMaxPosition[NUMBEROFSERVOS]

private

Definition at line 107 of file servo.h.

int Servo::servoMinPosition[NUMBEROFSERVOS]

private

Definition at line 106 of file servo.h.

int Servo::servoPosition[NUMBEROFSERVOS]

private

Definition at line 109 of file servo.h.

int Servo::servoStartPosition[NUMBEROFSERVOS]

private

Todo:: also defined in direcs.h !!!

Definition at line 104 of file servo.h.

const unsigned char Servo::SET_SERVO1 = 42

staticprivate

the command for the microcontroller

Definition at line 132 of file servo.h.

const unsigned char Servo::SET_SERVO2 = 43

staticprivate

Definition at line 133 of file servo.h.

const unsigned char Servo::SET_SERVO3 = 44

staticprivate

Definition at line 134 of file servo.h.

const unsigned char Servo::SET_SERVO4 = 45

staticprivate

Definition at line 135 of file servo.h.

const unsigned char Servo::SET_SERVO5 = 46

staticprivate

Definition at line 136 of file servo.h.

const unsigned char Servo::SET_SERVO6 = 47

staticprivate

Definition at line 137 of file servo.h.

const unsigned char Servo::SVCURRENT = 3

staticprivate

Definition at line 119 of file servo.h.

const unsigned char Servo::SVDEFAULT = 2

staticprivate

Definition at line 118 of file servo.h.

const unsigned char Servo::SVEND = 1

staticprivate

Definition at line 117 of file servo.h.

const unsigned char Servo::SVMAX = 5

staticprivate

Definition at line 121 of file servo.h.

const unsigned char Servo::SVMIN = 4

staticprivate

Definition at line 120 of file servo.h.

const unsigned char Servo::SVSTART = 0

staticprivate

the possible servo data

For motor or robot "OFF"

Definition at line 116 of file servo.h.

const unsigned long Servo::THREADSLEEPTIME = 100

staticprivate

Definition at line 100 of file servo.h.

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

direcs/src/servo.h
direcs/src/servo.cpp

Public Slots

Signals

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation