BeoSubActionTurn Class Reference

Helper base class for BeoSub turn actions. More...

#include <BeoSub/BeoSubAction.H>

Inheritance diagram for BeoSubActionTurn:

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Collaboration diagram for BeoSubActionTurn:

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List of all members.

Public Member Functions
	BeoSubActionTurn (BeoSub *bs, bool pulseWidthControl=false)
	Constructor.
virtual	~BeoSubActionTurn ()
	Destructor.
Protected Member Functions
virtual bool	activate (const bool incr)
	Turn for one step (turn right if incr=true).
virtual bool	turnOnMotor (const bool incr)
virtual bool	turnOffMotor (const bool incr)
virtual float	getPosition () const
	Get a reading of the current heading.
virtual bool	stabilize (const bool pulseWidthControl=false)
	Stabilize the depth.
virtual float	difference (float pos, float target)

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Detailed Description

Helper base class for BeoSub turn actions.

Definition at line 142 of file BeoSubAction.H.

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Constructor & Destructor Documentation

BeoSubActionTurn::BeoSubActionTurn	(	BeoSub *	bs,
		bool	pulseWidthControl = false
	)

Constructor.

Definition at line 241 of file BeoSubAction.C.

References BeoSub::getDepth(), BeoSubAction::itsDeadBand, BeoSubAction::itsGainD, BeoSubAction::itsGainI, and BeoSubAction::itsGainP.

BeoSubActionTurn::~BeoSubActionTurn

(

)

[virtual]

Destructor.

Definition at line 261 of file BeoSubAction.C.

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Member Function Documentation

bool BeoSubActionTurn::activate

(

const bool

incr

)

[protected, virtual]

Turn for one step (turn right if incr=true).

Implements BeoSubAction.

Definition at line 265 of file BeoSubAction.C.

float BeoSubActionTurn::difference	(	float	pos,
		float	target
	)			[protected, virtual]

Calculate current and target value differences Returning shortest turning angle with clockwise direction (positive)

Implements BeoSubAction.

Definition at line 295 of file BeoSubAction.C.

float BeoSubActionTurn::getPosition

(

)

const [protected, virtual]

Get a reading of the current heading.

Implements BeoSubAction.

Definition at line 284 of file BeoSubAction.C.

References BeoSub::getHeading().

bool BeoSubActionTurn::stabilize

(

const bool

pulseWidthControl = false

)

[protected, virtual]

Stabilize the depth.

Implements BeoSubAction.

Definition at line 288 of file BeoSubAction.C.

References BeoSubAction::execute().

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

• src/BeoSub/BeoSubAction.H
• src/BeoSub/BeoSubAction.C