CQEServo allows control of motor ports 1 through 12. More...

#include <qeservo.h>

Public Member Functions
	SINGLETON (CQEServo)
	This internal macro handles instantiation of this class.
void	Disable (unsigned int index)
	Turn off servo/motor.
void	SetCommand (unsigned int index, unsigned short val)
	Set the command of the given servo/motor.
unsigned short	GetCommand (unsigned int index)
	Get the command of the given servo/motor.
void	SetTiming (unsigned short min, unsigned short max)
	Set the timing of the servo/motor controller, namely the minimum and maximum of command.

Detailed Description

CQEServo allows control of motor ports 1 through 12.

These motor ports have 3 wires instead of just 2. To instantiate this class:

 // by pointer
 CQEServo *pservo = CQEServo::GetPtr(); 
 // or by reference
 CQEServo &servo = CQEServo::GetRef();

And when done with this class, call Release(), for each call to GetPtr() or GetRef():

 CQEServo::Release();

Member Function Documentation

void CQEServo::Disable ( unsigned int index )

Turn off servo/motor.

Parameters:

index

the motor in question, 0 through 11 corresponding to motor ports 1 through 12.

unsigned short CQEServo::GetCommand ( unsigned int index )

Get the command of the given servo/motor.

The command is the position of a servo or the speed of a motor, depending on what is attached to the port, either a servo module or a motor module.

Parameters:

index

the motor in question, 0 through 11 corresponding to motor ports 1 through 12.

Set the command of the given servo/motor.

The command is the position of a servo or the speed of a motor, depending on what is attached to the port, either a servo module or a motor module.

Parameters:

	index	the motor in question, 0 through 11 corresponding to motor ports 1 through 12.
	val	The value of the command can be between 0 and 250.

Set the timing of the servo/motor controller, namely the minimum and maximum of command.

This method shouldn't need to be called except in special applications.

CQEServo::SINGLETON ( CQEServo )

This internal macro handles instantiation of this class.

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