A Drive Object controls a single axis. More...

Public Member Functions
virtual bool	enableDrive ()=0
	Enable the drive.
virtual bool	disableDrive ()=0
	Disable the drive.
virtual bool	isEnabled () const =0
	Query if the drive is enabled or not.
virtual DigitalOutput *	getEnable ()=0
	Get the enable signal of the drive as a DigitalOutput.
virtual void	addOffset (double addoffset)=0
	Add an offset to the current drive value.
virtual double	getOffset ()=0
	Get the current offset.
virtual bool	driveSet (double v)=0
	Sets a new velocity.
virtual double	driveGet () const =0
	Returns the current drive velocity.
virtual double	maxDriveGet () const =0
	Returns the maximum drive velocity without limitations.
virtual double	minDriveGet () const =0
	Returns the minimum drive velocity without limitations.
virtual void	limit (double lower, double higher, const internal::Signal< void(std::string)> &ev)=0
	Limit the velocity of the drive.

Detailed Description

A Drive Object controls a single axis.

It is responsible for keeping track of its status (enabled, disabled).

Definition at line 56 of file DriveInterface.hpp.

Member Function Documentation

virtual void RTT::dev::DriveInterface::addOffset ( double addoffset ) [pure virtual]

Add an offset to the current drive value.

Use this value to compensate for drift when the drive is enabled.

virtual bool RTT::dev::DriveInterface::driveSet ( double v ) [pure virtual]

Sets a new velocity.

Parameters:

v	The velocity

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