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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-tcpip">Software</a> / TCP/IP - Servo Brick

.. |device_identifier_constant| unicode:: 0xA0
   :trim:

.. _servo_brick_tcpip:

TCP/IP - Servo Brick
====================

This is the description of the :ref:`TCP/IP protocol <llproto_tcpip>` for the :ref:`Servo Brick <servo_brick>`. General information and technical
specifications for the Servo Brick are summarized in its :ref:`hardware description
<servo_brick_description>`.

.. _servo_brick_tcpip_api:

API
---

A general description of the TCP/IP protocol structure can be found
:ref:`here <llproto_tcpip>`.


Every function of the Servo Brick API that has a *servo_num* parameter can
address a servo with the servo number (0 to 6). If it is a setter function then
multiple servos can be addressed at once with a bitmask for the
servos, if the highest bit is set. For example: ``1`` will address servo 1,
``(1 << 1) | (1 << 5) | (1 << 7)`` will address servos 1 and 5, ``0xFF`` will
address all seven servos, etc. This allows to set configurations to several
servos with one function call. It is guaranteed that the changes will take
effect in the same PWM period for all servos you specified in the bitmask.



Basic Functions
^^^^^^^^^^^^^^^



.. tcpip:function:: BrickServo.enable

 :functionid: 1
 :request servo_num: uint8

 :noresponse: no response

 Enables a servo (0 to 6). If a servo is enabled, the configured position,
 velocity, acceleration, etc. are applied immediately.
 
.. tcpip:function:: BrickServo.disable

 :functionid: 2
 :request servo_num: uint8

 :noresponse: no response

 Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a
 disabled servo will not hold its position if a load is applied.
 
.. tcpip:function:: BrickServo.is_enabled

 :functionid: 3
 :request servo_num: uint8

 :response enabled: bool

 Returns *true* if the specified servo is enabled, *false* otherwise.
 
.. tcpip:function:: BrickServo.set_position

 :functionid: 4
 :request servo_num: uint8
 :request position: int16

 :noresponse: no response

 Sets the position in °/100 for the specified servo. 
 
 The default range of the position is -9000 to 9000, but it can be specified
 according to your servo with :tcpip:func:`set_degree <BrickServo.set_degree>`.
 
 If you want to control a linear servo or RC brushless motor controller or
 similar with the Servo Brick, you can also define lengths or speeds with
 :tcpip:func:`set_degree <BrickServo.set_degree>`.
 
.. tcpip:function:: BrickServo.get_position

 :functionid: 5
 :request servo_num: uint8

 :response position: int16

 Returns the position of the specified servo as set by :tcpip:func:`set_position <BrickServo.set_position>`.
 
.. tcpip:function:: BrickServo.get_current_position

 :functionid: 6
 :request servo_num: uint8

 :response position: int16

 Returns the *current* position of the specified servo. This may not be the
 value of :tcpip:func:`set_position <BrickServo.set_position>` if the servo is currently approaching a
 position goal.
 
.. tcpip:function:: BrickServo.set_velocity

 :functionid: 7
 :request servo_num: uint8
 :request velocity: uint16

 :noresponse: no response

 Sets the maximum velocity of the specified servo in °/100s. The velocity
 is accelerated according to the value set by :tcpip:func:`set_acceleration <BrickServo.set_acceleration>`.
 
 The minimum velocity is 0 (no movement) and the maximum velocity is 65535.
 With a value of 65535 the position will be set immediately (no velocity).
 
 The default value is 65535.
 
.. tcpip:function:: BrickServo.get_velocity

 :functionid: 8
 :request servo_num: uint8

 :response velocity: uint16

 Returns the velocity of the specified servo as set by :tcpip:func:`set_velocity <BrickServo.set_velocity>`.
 
.. tcpip:function:: BrickServo.get_current_velocity

 :functionid: 9
 :request servo_num: uint8

 :response velocity: uint16

 Returns the *current* velocity of the specified servo. This may not be the
 value of :tcpip:func:`set_velocity <BrickServo.set_velocity>` if the servo is currently approaching a
 velocity goal.
 
.. tcpip:function:: BrickServo.set_acceleration

 :functionid: 10
 :request servo_num: uint8
 :request acceleration: uint16

 :noresponse: no response

 Sets the acceleration of the specified servo in °/100s².
 
 The minimum acceleration is 1 and the maximum acceleration is 65535.
 With a value of 65535 the velocity will be set immediately (no acceleration).
 
 The default value is 65535.
 
.. tcpip:function:: BrickServo.get_acceleration

 :functionid: 11
 :request servo_num: uint8

 :response acceleration: uint16

 Returns the acceleration for the specified servo as set by 
 :tcpip:func:`set_acceleration <BrickServo.set_acceleration>`.
 
.. tcpip:function:: BrickServo.set_output_voltage

 :functionid: 12
 :request voltage: uint16

 :noresponse: no response

 Sets the output voltages with which the servos are driven in mV.
 The minimum output voltage is 2000mV and the maximum output voltage is 
 9000mV.
 
 .. note::
  We recommend that you set this value to the maximum voltage that is
  specified for your servo, most servos achieve their maximum force only
  with high voltages.
 
 The default value is 5000.
 
.. tcpip:function:: BrickServo.get_output_voltage

 :functionid: 13
 :emptyrequest: empty payload

 :response voltage: uint16

 Returns the output voltage as specified by :tcpip:func:`set_output_voltage <BrickServo.set_output_voltage>`.
 
.. tcpip:function:: BrickServo.set_pulse_width

 :functionid: 14
 :request servo_num: uint8
 :request min: uint16
 :request max: uint16

 :noresponse: no response

 Sets the minimum and maximum pulse width of the specified servo in µs.
 
 Usually, servos are controlled with a 
 `PWM <http://en.wikipedia.org/wiki/Pulse-width_modulation>`__, whereby the
 length of the pulse controls the position of the servo. Every servo has
 different minimum and maximum pulse widths, these can be specified with
 this function.
 
 If you have a datasheet for your servo that specifies the minimum and
 maximum pulse width, you should set the values accordingly. If your servo
 comes without any datasheet you have to find the values via trial and error.
 
 Both values have a range from 1 to 65535 (unsigned 16-bit integer). The
 minimum must be smaller than the maximum.
 
 The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and 
 maximum pulse width.
 
.. tcpip:function:: BrickServo.get_pulse_width

 :functionid: 15
 :request servo_num: uint8

 :response min: uint16
 :response max: uint16

 Returns the minimum and maximum pulse width for the specified servo as set by
 :tcpip:func:`set_pulse_width <BrickServo.set_pulse_width>`.
 
.. tcpip:function:: BrickServo.set_degree

 :functionid: 16
 :request servo_num: uint8
 :request min: int16
 :request max: int16

 :noresponse: no response

 Sets the minimum and maximum degree for the specified servo (by default
 given as °/100).
 
 This only specifies the abstract values between which the minimum and maximum
 pulse width is scaled. For example: If you specify a pulse width of 1000µs
 to 2000µs and a degree range of -90° to 90°, a call of :tcpip:func:`set_position <BrickServo.set_position>`
 with 0 will result in a pulse width of 1500µs 
 (-90° = 1000µs, 90° = 2000µs, etc.).
 
 Possible usage:
 
 * The datasheet of your servo specifies a range of 200° with the middle position
   at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
 * You measure a range of 220° on your servo and you don't have or need a middle
   position. In this case you can set the minimum to 0 and the maximum to 22000.
 * You have a linear servo with a drive length of 20cm, In this case you could
   set the minimum to 0 and the maximum to 20000. Now you can set the Position
   with :tcpip:func:`set_position <BrickServo.set_position>` with a resolution of cm/100. Also the velocity will
   have a resolution of cm/100s and the acceleration will have a resolution of
   cm/100s².
 * You don't care about units and just want the highest possible resolution. In
   this case you should set the minimum to -32767 and the maximum to 32767.
 * You have a brushless motor with a maximum speed of 10000 rpm and want to
   control it with a RC brushless motor controller. In this case you can set the
   minimum to 0 and the maximum to 10000. :tcpip:func:`set_position <BrickServo.set_position>` now controls the rpm.
 
 Both values have a possible range from -32767 to 32767 
 (signed 16-bit integer). The minimum must be smaller than the maximum.
 
 The default values are -9000 and 9000 for the minimum and maximum degree.
 
.. tcpip:function:: BrickServo.get_degree

 :functionid: 17
 :request servo_num: uint8

 :response min: int16
 :response max: int16

 Returns the minimum and maximum degree for the specified servo as set by
 :tcpip:func:`set_degree <BrickServo.set_degree>`.
 
.. tcpip:function:: BrickServo.set_period

 :functionid: 18
 :request servo_num: uint8
 :request period: uint16

 :noresponse: no response

 Sets the period of the specified servo in µs.
 
 Usually, servos are controlled with a 
 `PWM <http://en.wikipedia.org/wiki/Pulse-width_modulation>`__. Different
 servos expect PWMs with different periods. Most servos run well with a 
 period of about 20ms.
 
 If your servo comes with a datasheet that specifies a period, you should
 set it accordingly. If you don't have a datasheet and you have no idea
 what the correct period is, the default value (19.5ms) will most likely
 work fine. 
 
 The minimum possible period is 1µs and the maximum is 65535µs.
 
 The default value is 19.5ms (19500µs).
 
.. tcpip:function:: BrickServo.get_period

 :functionid: 19
 :request servo_num: uint8

 :response period: uint16

 Returns the period for the specified servo as set by :tcpip:func:`set_period <BrickServo.set_period>`.
 
.. tcpip:function:: BrickServo.get_servo_current

 :functionid: 20
 :request servo_num: uint8

 :response current: uint16

 Returns the current consumption of the specified servo in mA.
 
.. tcpip:function:: BrickServo.get_overall_current

 :functionid: 21
 :emptyrequest: empty payload

 :response current: uint16

 Returns the current consumption of all servos together in mA.
 
.. tcpip:function:: BrickServo.get_stack_input_voltage

 :functionid: 22
 :emptyrequest: empty payload

 :response voltage: uint16

 Returns the stack input voltage in mV. The stack input voltage is the
 voltage that is supplied via the stack, i.e. it is given by a 
 Step-Down or Step-Up Power Supply.
 
.. tcpip:function:: BrickServo.get_external_input_voltage

 :functionid: 23
 :emptyrequest: empty payload

 :response voltage: uint16

 Returns the external input voltage in mV. The external input voltage is
 given via the black power input connector on the Servo Brick. 
  
 If there is an external input voltage and a stack input voltage, the motors
 will be driven by the external input voltage. If there is only a stack 
 voltage present, the motors will be driven by this voltage.
 
 .. warning::
  This means, if you have a high stack voltage and a low external voltage,
  the motors will be driven with the low external voltage. If you then remove
  the external connection, it will immediately be driven by the high
  stack voltage
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. tcpip:function:: BrickServo.enable_status_led

 :functionid: 238
 :emptyrequest: empty payload

 :noresponse: no response

 Enables the status LED.
 
 The status LED is the blue LED next to the USB connector. If enabled is is
 on and it flickers if data is transfered. If disabled it is always off.
 
 The default state is enabled.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. tcpip:function:: BrickServo.disable_status_led

 :functionid: 239
 :emptyrequest: empty payload

 :noresponse: no response

 Disables the status LED.
 
 The status LED is the blue LED next to the USB connector. If enabled is is
 on and it flickers if data is transfered. If disabled it is always off.
 
 The default state is enabled.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. tcpip:function:: BrickServo.is_status_led_enabled

 :functionid: 240
 :emptyrequest: empty payload

 :response enabled: bool

 Returns *true* if the status LED is enabled, *false* otherwise.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. tcpip:function:: BrickServo.get_protocol1_bricklet_name

 :functionid: 241
 :request port: char

 :response protocol_version: uint8
 :response firmware_version: uint8[3]
 :response name: char[40]

 Returns the firmware and protocol version and the name of the Bricklet for a
 given port.
 
 This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet
 plugins.
 
.. tcpip:function:: BrickServo.get_chip_temperature

 :functionid: 242
 :emptyrequest: empty payload

 :response temperature: int16

 Returns the temperature in °C/10 as measured inside the microcontroller. The
 value returned is not the ambient temperature!
 
 The temperature is only proportional to the real temperature and it has an
 accuracy of +-15%. Practically it is only useful as an indicator for
 temperature changes.
 
.. tcpip:function:: BrickServo.reset

 :functionid: 243
 :emptyrequest: empty payload

 :noresponse: no response

 Calling this function will reset the Brick. Calling this function
 on a Brick inside of a stack will reset the whole stack.
 
 After a reset you have to create new device objects,
 calling functions on the existing ones will result in
 undefined behavior!
 
.. tcpip:function:: BrickServo.get_identity

 :functionid: 255
 :emptyrequest: empty payload

 :response uid: char[8]
 :response connected_uid: char[8]
 :response position: char
 :response hardware_version: uint8[3]
 :response firmware_version: uint8[3]
 :response device_identifier: uint16

 Returns the UID, the UID where the Brick is connected to, 
 the position, the hardware and firmware version as well as the
 device identifier.
 
 The position can be '0'-'8' (stack position).
 
 The device identifier numbers can be found :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^



.. tcpip:function:: BrickServo.set_minimum_voltage

 :functionid: 24
 :request voltage: uint16

 :noresponse: no response

 Sets the minimum voltage in mV, below which the :tcpip:func:`CALLBACK_UNDER_VOLTAGE <BrickServo.CALLBACK_UNDER_VOLTAGE>` callback
 is triggered. The minimum possible value that works with the Servo Brick is 5V.
 You can use this function to detect the discharge of a battery that is used
 to drive the stepper motor. If you have a fixed power supply, you likely do 
 not need this functionality.
 
 The default value is 5V (5000mV).
 
.. tcpip:function:: BrickServo.get_minimum_voltage

 :functionid: 25
 :emptyrequest: empty payload

 :response voltage: uint16

 Returns the minimum voltage as set by :tcpip:func:`set_minimum_voltage <BrickServo.set_minimum_voltage>`
 
.. tcpip:function:: BrickServo.enable_position_reached_callback

 :functionid: 29
 :emptyrequest: empty payload

 :noresponse: no response

 Enables the :tcpip:func:`CALLBACK_POSITION_REACHED <BrickServo.CALLBACK_POSITION_REACHED>` callback.
 
 Default is disabled.
 
 .. versionadded:: 2.0.1~(Firmware)
 
.. tcpip:function:: BrickServo.disable_position_reached_callback

 :functionid: 30
 :emptyrequest: empty payload

 :noresponse: no response

 Disables the :tcpip:func:`CALLBACK_POSITION_REACHED <BrickServo.CALLBACK_POSITION_REACHED>` callback.
 
 Default is disabled.
 
 .. versionadded:: 2.0.1~(Firmware)
 
.. tcpip:function:: BrickServo.is_position_reached_callback_enabled

 :functionid: 31
 :emptyrequest: empty payload

 :response enabled: uint8

 Returns *true* if :tcpip:func:`CALLBACK_POSITION_REACHED <BrickServo.CALLBACK_POSITION_REACHED>` callback is enabled, *false* otherwise.
 
 .. versionadded:: 2.0.1~(Firmware)
 
.. tcpip:function:: BrickServo.enable_velocity_reached_callback

 :functionid: 32
 :emptyrequest: empty payload

 :noresponse: no response

 Enables the :tcpip:func:`CALLBACK_VELOCITY_REACHED <BrickServo.CALLBACK_VELOCITY_REACHED>` callback.
 
 Default is disabled.
 
 .. versionadded:: 2.0.1~(Firmware)
 
.. tcpip:function:: BrickServo.disable_velocity_reached_callback

 :functionid: 33
 :emptyrequest: empty payload

 :noresponse: no response

 Disables the :tcpip:func:`CALLBACK_VELOCITY_REACHED <BrickServo.CALLBACK_VELOCITY_REACHED>` callback.
 
 Default is disabled.
 
 .. versionadded:: 2.0.1~(Firmware)
 
.. tcpip:function:: BrickServo.is_velocity_reached_callback_enabled

 :functionid: 34
 :emptyrequest: empty payload

 :response enabled: uint8

 Returns *true* if :tcpip:func:`CALLBACK_VELOCITY_REACHED <BrickServo.CALLBACK_VELOCITY_REACHED>` callback is enabled, *false* otherwise.
 
 .. versionadded:: 2.0.1~(Firmware)
 


.. _servo_brick_tcpip_callbacks:

Callbacks
^^^^^^^^^

.. tcpip:function:: BrickServo.CALLBACK_UNDER_VOLTAGE

 :functionid: 26

 :response voltage: uint16


 This callback is triggered when the input voltage drops below the value set by
 :tcpip:func:`set_minimum_voltage <BrickServo.set_minimum_voltage>`. The response value is the current voltage given
 in mV.
 
.. tcpip:function:: BrickServo.CALLBACK_POSITION_REACHED

 :functionid: 27

 :response servo_num: uint8
 :response position: int16


 This callback is triggered when a position set by :tcpip:func:`set_position <BrickServo.set_position>`
 is reached. The response values are the servo and the position that is reached.
 
 You can enable this callback with :tcpip:func:`enable_position_reached_callback <BrickServo.enable_position_reached_callback>`.
 
 .. note::
  Since we can't get any feedback from the servo, this only works if the
  velocity (see :tcpip:func:`set_velocity <BrickServo.set_velocity>`) is set smaller or equal to the
  maximum velocity of the servo. Otherwise the servo will lag behind the
  control value and the callback will be triggered too early.
 
.. tcpip:function:: BrickServo.CALLBACK_VELOCITY_REACHED

 :functionid: 28

 :response servo_num: uint8
 :response velocity: int16


 This callback is triggered when a velocity set by :tcpip:func:`set_velocity <BrickServo.set_velocity>`
 is reached. The response values are the servo and the velocity that is reached.
 
 You can enable this callback with :tcpip:func:`enable_velocity_reached_callback <BrickServo.enable_velocity_reached_callback>`.
 
 .. note::
  Since we can't get any feedback from the servo, this only works if the
  acceleration (see :tcpip:func:`set_acceleration <BrickServo.set_acceleration>`) is set smaller or equal to the
  maximum acceleration of the servo. Otherwise the servo will lag behind the
  control value and the callback will be triggered too early.
 


