Simulator/Physics: Refactor and test ServoMotor

[josefbehr]

mMaxAngle (mMinAngle) not used although set on reset
Parameters not documented
What's the reason behind mSensorRangeMaxValue?
No test cases!

[cybott]

It seems that angle control is prepared, but not fully implemented in
servo motor. For position controlled servo motors we usually use the
Dynamixel motor. If ServoMotor should also provide angle position
control, then several things have to be changed, including the min/max
and the range of the desired setting variable. For now, I would disable
the angle position control and add a short documentation on that issue.

Up to now, there are also no test cases for the class, because it was
implemented only for a student project. If we use the motor with all of
its modes in major experiments, then we should refactor the class and
provide also test cases for it. Maybe it is worth to put this in the
issue tracker for later.

Thanks,
Chris

On 05/24/2013 04:00 PM, Josef Behr wrote:

mMaxAngle (mMinAngle) not used although set on reset
Parameters not documented
What's the reason behind mSensorRangeMaxValue?

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#1.

[josefbehr]

We should definitely write test cases for the ServoMotor and probably refactor the class, too. It is used in BigAlice currently and might therefore be used in experiments. The settings and what they mean should be documented!

[josefbehr]

@Wallnuss Do you have time and motivation to have a look at the class? I'm still struggling with the sensor ...

[vchuravy]

If I have some downtime the next days I will take a look, but no promises :)