HkxGroupContRotation Class Reference

Class to drive a group of servos in continuous rotation mode. More...

#include <HkxGroupContRotation.h>

Public Member Functions
	HkxGroupContRotation (uint8_t length, HkxContRotation *arrayServos[], HkxPrint &print)
	Constructor. More...
HkxContRotation &	getServo (uint8_t number)
	Get the nth servo. More...
uint8_t	getNbServos ()
	Get number of servos. More...
uint8_t	setAllTorqueLEDControl (HkxMaybe< hkxTorqueControl > newTorqueControl, HkxMaybe< hkxLEDControl > newLEDControl)
	Set torque actuation and LED colour. More...
uint8_t	moveAllRotation (int16_t pwm[], HkxMaybe< uint16_t > playTime, HkxMaybe< hkxLEDControl > LEDControl[])
	Move servos in continuous rotation. More...
void	rebootAll ()
	Reboot. More...

Private Attributes
HkxContRotation **	_servos
const uint8_t	_length
HkxCommunication &	_herkXCom
HkxPrint &	_print

Detailed Description

Class to drive a group of servos in continuous rotation mode.

This class allows to drive a group of servos in continuous rotation mode.

Constructor & Destructor Documentation

HkxGroupContRotation::HkxGroupContRotation	(	uint8_t	length,
		HkxContRotation *	arrayServos[],
		HkxPrint &	print
	)

Constructor.

The constructor of HkxGroupContRotation.

Warning

HkxCommunication shall be the same for all the servos of the group. If not, an error will be returned and the instance will be corrupted.

Parameters

[in]

length

: Number of servos in the table _servos.

Warning

It shall not exceed 53 servos, otherwise it cannot execute moveAllRotation().

Parameters

[in]	arrayServos[]	: Array of pointers to the servos.
[in]	print	: Communication to print messages.

Member Function Documentation

uint8_t HkxGroupContRotation::getNbServos ( )

inline

Get number of servos.

Get the number of servos manage by the instance.

Returns

Return the number of servos.

HkxContRotation& HkxGroupContRotation::getServo ( uint8_t  number )

inline

Get the nth servo.

Get the nth servo.

Parameters

[in]

number

: number of servo to get (from the table _servos).

Warning

number < _ref _length otherwise return void.

Returns

Return a reference to the nth servo.

uint8_t HkxGroupContRotation::moveAllRotation	(	int16_t	pwm[],
		HkxMaybe< uint16_t >	playTime,
		HkxMaybe< hkxLEDControl >	LEDControl[]
	)

Move servos in continuous rotation.

Perform a move of all the servos in continuous rotation mode.

Parameters

[in]	pwm[]	: Array of torque power to apply. Its value shall be set in PWM within the range [-1023 ; 1023].
[in]	playTime	: Time of the action. Its value shall be set in milliseconds. This parameter is optional, either set a uint16_t (or unsigned int) variable, or set HKX_NO_VALUE to ignore it.
[in]	LEDControl[]	: Array of LED control to apply. This parameter is optional, either set a hkxLEDControl variable, the value (list below), or set HKX_NO_VALUE to ignore it. HKX_LED_OFF, HKX_LED_GREEN, HKX_LED_BLUE, HKX_LED_RED, HKX_LED_CYAN, HKX_LED_YELLOW, HKX_LED_PINK, HKX_LED_WHITE,

Returns

0 = OK
1 = Input not correct
2 = Servo not connected

void HkxGroupContRotation::rebootAll ( )

inline

Reboot.

Reboot all the servos.

uint8_t HkxGroupContRotation::setAllTorqueLEDControl	(	HkxMaybe< hkxTorqueControl >	newTorqueControl,
		HkxMaybe< hkxLEDControl >	newLEDControl
	)

Set torque actuation and LED colour.

Set the same torque actuation (hkxTorqueControl for more details) and the LED colour (hkxLEDControl for more details) to all the servos.

Parameters

[in]	newTorqueControl	: Torque control to apply. This parameter is optional, either set a hkxTorqueControl variable, the value (list below), or set HKX_NO_VALUE to ignore it. HKX_TORQUE_FREE: no resistance to the movements (or let say mechanical resistance only) HKX_TORQUE_BREAK: the motor resists but allows the movements HKX_TORQUE_ON: the motor maintain its position (don't allow movements)
[in]	newLEDControl	: LED control to apply. This parameter is optional, either set a hkxLEDControl variable, the value (list below), or set HKX_NO_VALUE to ignore it. HKX_LED_OFF, HKX_LED_GREEN, HKX_LED_BLUE, HKX_LED_RED, HKX_LED_CYAN, HKX_LED_YELLOW, HKX_LED_PINK, HKX_LED_WHITE,

Returns

0 = OK
1 = Input not correct
2 = Servo not connected

Member Data Documentation

HkxCommunication& HkxGroupContRotation::_herkXCom

private

Communication with servos

const uint8_t HkxGroupContRotation::_length

private

Number of servos in the table _servos

HkxPrint& HkxGroupContRotation::_print

private

Communication to print messages

HkxContRotation** HkxGroupContRotation::_servos

private

Array of pointers to HkxContRotation instances

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

• /home/benoit/sketchbook/libraries/HerkuleXLib/HkxGroupContRotation.h
• /home/benoit/sketchbook/libraries/HerkuleXLib/HkxGroupContRotation.cpp