ServoROS Class Reference
#include <Servo_ros.h>
Inheritance diagram for ServoROS:
Public Member Functions | |
| ServoROS (ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel) | |
| Constructs the ServoROS object on a specified channel index. More... | |
| ~ServoROS () | |
| Destructor for the ServoROS object. More... | |
| bool | SetAngle (vmxpi_ros::Float::Request &req, vmxpi_ros::Float::Response &res) |
| Converts user input of degrees into a value readable by the HAL. More... | |
| double | GetAngle () const |
| Returns the current servo angle. More... | |
| double | GetMinAngle () const |
| Returns the minimum angle of the servo, which is -150deg. More... | |
| double | GetMaxAngle () const |
| Returns the maximum angle of the servo, which is 150deg. More... | |
| void | Run_t () |
| Provides a method to call the various Services and Publishers of the ServoROS library advertising sensor data to the ROS Master node. More... | |
 Public Member Functions inherited from Utils | |
| void | DisplayVMXError (VMXErrorCode vmxerr) |
| Displays the VMXError. More... | |
Constructor & Destructor Documentation
◆ ServoROS()
| ServoROS::ServoROS | ( | ros::NodeHandle * | nh, |
| VMXPi * | vmx, | ||
| uint8_t | channel | ||
| ) |
Constructs the ServoROS object on a specified channel index.
- Parameters
-
nh Internal reference to the ROS node that the program will use to interact with the ROS system. vmx VMX-pi parameter used to initialize the VMX-pi HAL. channel Parameter to specify the channel index.
◆ ~ServoROS()
| ServoROS::~ServoROS | ( | ) |
Destructor for the ServoROS object.
Member Function Documentation
◆ GetAngle()
| double ServoROS::GetAngle | ( | ) | const |
Returns the current servo angle.
- Returns
- The current angle of the servo.
◆ GetMaxAngle()
| double ServoROS::GetMaxAngle | ( | ) | const |
Returns the maximum angle of the servo, which is 150deg.
- Returns
- The maximum servo angle.
◆ GetMinAngle()
| double ServoROS::GetMinAngle | ( | ) | const |
Returns the minimum angle of the servo, which is -150deg.
- Returns
- The minimum servo angle.
◆ Run_t()
| void ServoROS::Run_t | ( | ) |
Provides a method to call the various Services and Publishers of the ServoROS library advertising sensor data to the ROS Master node.
◆ SetAngle()
| bool ServoROS::SetAngle | ( | vmxpi_ros::Float::Request & | req, |
| vmxpi_ros::Float::Response & | res | ||
| ) |
Converts user input of degrees into a value readable by the HAL.
NOTE: The output range is clamped to -150deg - 150deg.
- Parameters
-
req Float request service type defined in the Float.srv file. res Float response service type defined in the Float.srv file.
- Returns
- TRUE when the angle of the servo is set. The error code is returned if the VMX PWM Generator Resource's Duty Cycle is not set.
The documentation for this class was generated from the following files:
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_servo/include/Servo_ros.h
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_servo/src/Servo_ros.cpp
