orc
Class AX12Servo
java.lang.Object
orc.AX12Servo
public class AX12Servo
- extends java.lang.Object
Constructor Summary |
AX12Servo(Orc orc,
int id)
|
AX12Servo(Orc orc,
int id,
double pos0,
double val0,
double pos1,
double val1)
|
Method Summary |
void |
changeServoID(int oldID,
int newID)
This method changes the servo ID from oldID to newID. |
int |
getId()
|
AX12Status |
getStatus()
|
static void |
main(java.lang.String[] args)
|
boolean |
ping()
|
void |
remap(double pos0,
double val0,
double pos1,
double val1)
Remap the angle scale (and possibly enforce clamping.) |
void |
setGoalDegrees(double deg,
double speedfrac,
double torquefrac)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
verbose
public boolean verbose
ERROR_INSTRUCTION
public static final int ERROR_INSTRUCTION
- See Also:
- Constant Field Values
ERROR_OVERLOAD
public static final int ERROR_OVERLOAD
- See Also:
- Constant Field Values
ERROR_CHECKSUM
public static final int ERROR_CHECKSUM
- See Also:
- Constant Field Values
ERROR_RANGE
public static final int ERROR_RANGE
- See Also:
- Constant Field Values
ERROR_OVERHEAT
public static final int ERROR_OVERHEAT
- See Also:
- Constant Field Values
ERROR_ANGLE_LIMIT
public static final int ERROR_ANGLE_LIMIT
- See Also:
- Constant Field Values
ERROR_VOLTAGE
public static final int ERROR_VOLTAGE
- See Also:
- Constant Field Values
BROADCAST_ADDRESS
public static final int BROADCAST_ADDRESS
- See Also:
- Constant Field Values
AX12Servo
public AX12Servo(Orc orc,
int id)
AX12Servo
public AX12Servo(Orc orc,
int id,
double pos0,
double val0,
double pos1,
double val1)
remap
public void remap(double pos0,
double val0,
double pos1,
double val1)
- Remap the angle scale (and possibly enforce clamping.)
- Parameters:
pos0
- Actual servo position [0,300] corresponding to an input of val0.val0
- The value which will be mapped to the servo position pos0.pos1
- Actual servo position [0, 300] corresponding to an input of val1.val1
- The value which will be mapped to the servo position pos1.
Suppose that you wish to define a joint with a range of 30
degrees [0, 30] that will swing between [170, 200] in the
servo's native coordinates. You would call (170, 0, 200, 30).
changeServoID
public void changeServoID(int oldID,
int newID)
- This method changes the servo ID from oldID to newID. It is OK
to use this method on bus.
- Parameters:
oldID
- [0x00, 0xFD]newID
- [0x00, 0xFD]
ping
public boolean ping()
setGoalDegrees
public void setGoalDegrees(double deg,
double speedfrac,
double torquefrac)
- Parameters:
deg
- [0, 300]speedfrac
- [0, 1]
getStatus
public AX12Status getStatus()
getId
public int getId()
main
public static void main(java.lang.String[] args)