ArmController.H File Reference

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Detailed Description

Control motors and pid

Definition in file ArmController.H.

#include "Component/ModelComponent.H"
#include "Component/ModelParam.H"
#include "rutz/shared_ptr.h"
#include "Util/Types.H"
#include "Util/Timer.H"
#include "Util/WorkThreadServer.H"
#include "Util/JobWithSemaphore.H"
#include "Controllers/PID.H"
#include "Devices/Scorbot.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "ArmControl/ArmSim.H"
#include <list>

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Classes
class	ArmController
struct	ArmController::JointPos
Defines
#define	ERR_THRESH   10
#define	BASE_THRESH_POS   30
#define	BASE_THRESH_NEG   -30
#define	SHOLDER_THRESH_POS   30
#define	SHOLDER_THRESH_NEG   -60
#define	ELBOW_THRESH_POS   44
#define	ELBOW_THRESH_NEG   -25
#define	WRIST1_THRESH_POS   30
#define	WRIST1_THRESH_NEG   -30
#define	WRIST2_THRESH_POS   30
#define	WRIST2_THRESH_NEG   -30

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