#include <otScorpio.h>
Inheritance diagram for otScorpio:
Public Types | |
typedef otScorpio::Side | Side |
Side selection. | |
typedef otScorpio::Action | Action |
Action selection. | |
typedef otScorpio::Direction | Direction |
Direction select. | |
typedef otScorpio::Turn | Turn |
Select turn direction. | |
typedef otScorpio::Actions | Actions |
Select an ction. | |
enum | Side { LEFT = true, RIGHT = false } |
enum | Action { ANGLE, LEVEL } |
enum | Direction { FORWARD = -1, BACKWARD = 1 } |
enum | Turn { T_LEFT = true, T_RIGHT = false } |
enum | Actions { ACT_NO, ACT_MOVE, ACT_TURN } |
Public Member Functions | |
otScorpio () | |
bool | init (U8 timerId, U8 addr=0x40) |
void | setDelay (U16 val) |
void | setServoId (Side side, Action action, U16 id, U16 value) |
void | setLevelOffset (Side side, U16 id, S16 value) |
void | setAngleOffset (Side side, U16 id, S16 value) |
int | getServoAngle (Side side, int id) |
int | getServoLevel (Side side, int id) |
void | setAngle (Side side, int id, int value) |
void | setLevel (Side side, int id, int value) |
void | setLevel (U16 left1, U16 right1, U16 left2, U16 right2, U16 left3, U16 right3) |
void | setAngle (S16 left1, S16 right1, S16 left2, S16 right2, S16 left3, S16 right3) |
void | clearAngle () |
void | setLevel (U16 value) |
void | move (Direction direction, int lvl, int delay) |
void | turn (Turn direction, int ang, int lvl, int delay) |
void | setAction (Actions action, S16 param0=0, int ang=30, int lvl=20) |
bool | completed (bool loop=true) |
void | abort () |
void | process () |
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Create the class. |
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Abort immediately current action. |
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Set to 0 degree all angle servos |
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Check if the requested action is done
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Read current angle
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Read current level
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Init the class
Reimplemented from otPWM. |
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Move action. This a blocking method return only on completed action.
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Process request action |
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Set a specific action that will be performed by continuous calls to the process method
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Broadcast angle set
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Place a specified servo at an angle
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Specifies an offset for the specified angle servo
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Interleave delay for leg actions.
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Set to specified value all level servos
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Broadcast level set
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Place a specified servo at an level
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Specifies an offset for the specified level servo
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Associate a PWM output (0-15) used for controlling a servo to its location in the model. |
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Turn action. This a blocking method return only on completed action.
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