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REPY-2.0 1.0
Mechanical module for modular robotics
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REPY-2.0 1.0
Mechanical module for modular robotics
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Defines the simplest structure of a servo, and its data interface. More...
#include <basicservo.h>
Public Member Functions | |
| double | get_width () |
| Returns the width of the body of the servo. | |
| double | get_length () |
| Returns the length of the body of the servo. | |
| double | get_height () |
| Returns the height of the body of the servo. | |
| double | get_leg_h () |
| Returns the height at which the servo leg is placed. | |
| double | get_leg_x () |
| Returns the dimension of the leg on the X axis. | |
| double | get_leg_y () |
| Returns the dimension of the leg on the Y axis. | |
| double | get_leg_z () |
| Returns the dimension of the leg on the z axis. | |
| int | get_num_holes () |
| Returns the amount of holes of the servo legs. | |
| double | get_hole_r () |
| Returns the radius of the servo legs holes. | |
| double | get_hole_x () |
| Returns the offset of the servo leg holes on the X axis. | |
| double | get_hole_y () |
| Returns the offset of the servo leg holes on the Y axis. | |
| double | get_axis_h () |
| Returns the height at which the servo axis is placed. | |
| double | get_axis_r () |
| Returns the radius of the servo axis. | |
| double | get_axis_y () |
| Returns the position of the servo axis on the Y axis. | |
| double | get_horn_dist_axis () |
| Returns the distance between the servo body and the horn bigger part. | |
| double | get_width_tol () |
| Returns the clearance of the width of the servo body. | |
| double | get_length_tol () |
| Returns the clearance of the length of the servo body. | |
| double | get_height_tol () |
| Returns the clearance of the height of the servo body. | |
| double | get_horn_num_arms () |
| Returns the number of arms of the horn. | |
| double | get_horn_h_top () |
| Returns the thickness of the upper part of the horn. | |
| double | get_horn_r_top () |
| Returns the radius of the upper part of the horn. | |
| double | get_horn_h_axis () |
| Returns the thickness of the lower part of the horn. | |
| double | get_horn_r_axis () |
| Returns the radius of the lower part of the horn. | |
| double | get_horn_arm_r () |
| Returns the radius of the extreme of the horn arm. | |
| double | get_horn_arm_shift () |
| Returns the shift of the horn arm. | |
| double | get_horn_arm_dist () |
| Returns the distance between the center of the horn and the center of the arm circle. | |
| double | get_horn_tol () |
| Returns the clearance for making holes with the horn. | |
| double | get_horn_cut () |
| Returns the distance between the cut part and the rounded extreme. | |
| bool | horn_shown () |
| Returns the visibility of the horn. | |
| Component | get_horn () |
| Returns the horn as a component. | |
| double | get_horn_angle () |
| Returns the horn angle. | |
| void | set_horn (int arms, double angle=0, bool visibility=true, double cut=0) |
| Sets the characteristics and dimensions of the horn. | |
| void | set_tolerances (double width_tol, double length_tol, double height_tol) |
| Sets main servo body tolerances. | |
Protected Member Functions | |
| BasicServo () | |
| Default constructor. | |
| virtual void | update_horn ()=0 |
| Sets the different default dimensions of the horn after a change in the horn main characteristics. | |
| virtual Component | build () |
| Builds and returns the BasicServo. | |
| virtual void | make_horn () |
| Builds the servo horn and saves it in horn variable. | |
Protected Attributes | |
| double | width |
| wwidth of the body of the servo | |
| double | length |
| length of the body of the servo | |
| double | height |
| height of the body of the servo | |
| double | leg_h |
| Height at which the servo leg is placed. | |
| double | leg_x |
| Dimension of the leg on the X axis. | |
| double | leg_y |
| Dimension of the leg on the Y axis. | |
| double | leg_z |
| Dimension of the leg on the Z axis. | |
| int | num_holes |
| Amount of holes of the servo legs. | |
| double | hole_r |
| Radius of the servo leg holes. | |
| double | hole_x |
| Offset of the servo leg holes on the X axis. | |
| double | hole_y |
| Offset of the servo leg holes on the X axis. | |
| double | axis_h |
| Height at which the servo axis is placed. | |
| double | axis_r |
| Radius of the servo axis. | |
| double | axis_y |
| Position of the servo axis on the Y axis. | |
| double | horn_dist_axis |
| Distance between the servo body and the horn bigger part. | |
| double | width_tol |
| Clearance of the width of the servo body. | |
| double | length_tol |
| Clearance of the length of the servo body. | |
| double | height_tol |
| Clearance of the height of the servo body. | |
| std::vector< double > | servo_color |
| Color of the body of the servo. | |
| Component | horn |
| Servo horn. | |
| bool | display_horn |
| Stores the state of the horn: shown / not shown. | |
| int | horn_num_arms |
| Number of arms of the horn. | |
| double | horn_h_top |
| Thickness of the upper part of the horn. | |
| double | horn_r_top |
| Radius of the upper part of the horn. | |
| double | horn_h_axis |
| Thickness of the lower part of the horn. | |
| double | horn_r_axis |
| Radius of the lower part of the horn. | |
| double | horn_arm_r |
| Radius of the extreme of the horn arm. | |
| double | horn_arm_shift |
| Shift of the horn arm. | |
| double | horn_arm_dist |
| Distance between the center of the horn and the center of the arm circle. | |
| double | horn_tol |
| Clearance for making holes with the horn. | |
| double | horn_cut |
| Distance between the cut part and the rounded extreme. | |
| std::vector< double > | horn_color |
| Color of the servo horn. | |
| double | horn_angle |
| Angle of the horn. | |
Defines the simplest structure of a servo, and its data interface.
To make objects compatible with as much servos as possible, new servos should inherit from this 'BasicServo'
1.7.4
