Class BrickletServoV2


  • public class BrickletServoV2
    extends Device
    Drives up to 10 RC Servos
    • Field Detail

      • DEVICE_DISPLAY_NAME

        public static final java.lang.String DEVICE_DISPLAY_NAME
        See Also:
        Constant Field Values
      • FUNCTION_GET_CURRENT_POSITION

        public static final byte FUNCTION_GET_CURRENT_POSITION
        See Also:
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      • FUNCTION_GET_CURRENT_VELOCITY

        public static final byte FUNCTION_GET_CURRENT_VELOCITY
        See Also:
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      • FUNCTION_SET_MOTION_CONFIGURATION

        public static final byte FUNCTION_SET_MOTION_CONFIGURATION
        See Also:
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      • FUNCTION_GET_MOTION_CONFIGURATION

        public static final byte FUNCTION_GET_MOTION_CONFIGURATION
        See Also:
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      • FUNCTION_SET_PULSE_WIDTH

        public static final byte FUNCTION_SET_PULSE_WIDTH
        See Also:
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      • FUNCTION_GET_PULSE_WIDTH

        public static final byte FUNCTION_GET_PULSE_WIDTH
        See Also:
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      • FUNCTION_GET_SERVO_CURRENT

        public static final byte FUNCTION_GET_SERVO_CURRENT
        See Also:
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      • FUNCTION_SET_SERVO_CURRENT_CONFIGURATION

        public static final byte FUNCTION_SET_SERVO_CURRENT_CONFIGURATION
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      • FUNCTION_GET_SERVO_CURRENT_CONFIGURATION

        public static final byte FUNCTION_GET_SERVO_CURRENT_CONFIGURATION
        See Also:
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      • FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION

        public static final byte FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION
        See Also:
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      • FUNCTION_GET_INPUT_VOLTAGE_CONFIGURATION

        public static final byte FUNCTION_GET_INPUT_VOLTAGE_CONFIGURATION
        See Also:
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      • FUNCTION_GET_OVERALL_CURRENT

        public static final byte FUNCTION_GET_OVERALL_CURRENT
        See Also:
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      • FUNCTION_GET_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_INPUT_VOLTAGE
        See Also:
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      • FUNCTION_SET_CURRENT_CALIBRATION

        public static final byte FUNCTION_SET_CURRENT_CALIBRATION
        See Also:
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      • FUNCTION_GET_CURRENT_CALIBRATION

        public static final byte FUNCTION_GET_CURRENT_CALIBRATION
        See Also:
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      • FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_POSITION_REACHED_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_POSITION_REACHED_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_SPITFP_ERROR_COUNT

        public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
        See Also:
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      • FUNCTION_SET_BOOTLOADER_MODE

        public static final byte FUNCTION_SET_BOOTLOADER_MODE
        See Also:
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      • FUNCTION_GET_BOOTLOADER_MODE

        public static final byte FUNCTION_GET_BOOTLOADER_MODE
        See Also:
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      • FUNCTION_SET_WRITE_FIRMWARE_POINTER

        public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
        See Also:
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      • FUNCTION_WRITE_FIRMWARE

        public static final byte FUNCTION_WRITE_FIRMWARE
        See Also:
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      • FUNCTION_SET_STATUS_LED_CONFIG

        public static final byte FUNCTION_SET_STATUS_LED_CONFIG
        See Also:
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      • FUNCTION_GET_STATUS_LED_CONFIG

        public static final byte FUNCTION_GET_STATUS_LED_CONFIG
        See Also:
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
        See Also:
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      • BOOTLOADER_MODE_BOOTLOADER

        public static final int BOOTLOADER_MODE_BOOTLOADER
        See Also:
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      • BOOTLOADER_MODE_FIRMWARE

        public static final int BOOTLOADER_MODE_FIRMWARE
        See Also:
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      • BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
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      • BOOTLOADER_STATUS_INVALID_MODE

        public static final int BOOTLOADER_STATUS_INVALID_MODE
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      • BOOTLOADER_STATUS_NO_CHANGE

        public static final int BOOTLOADER_STATUS_NO_CHANGE
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      • BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT

        public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
        See Also:
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      • BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT

        public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
        See Also:
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      • BOOTLOADER_STATUS_CRC_MISMATCH

        public static final int BOOTLOADER_STATUS_CRC_MISMATCH
        See Also:
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      • STATUS_LED_CONFIG_SHOW_HEARTBEAT

        public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
        See Also:
        Constant Field Values
      • STATUS_LED_CONFIG_SHOW_STATUS

        public static final int STATUS_LED_CONFIG_SHOW_STATUS
        See Also:
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    • Constructor Detail

      • BrickletServoV2

        public BrickletServoV2​(java.lang.String uid,
                               IPConnection ipcon)
        Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
    • Method Detail

      • getStatus

        public BrickletServoV2.Status getStatus()
                                         throws TinkerforgeException
        Returns the status information of the Servo Bricklet 2.0. The status includes * for each channel if it is enabled or disabled, * for each channel the current position, * for each channel the current velocity, * for each channel the current usage and * the input voltage. Please note that the position and the velocity is a snapshot of the current position and velocity of the servo in motion.
        Throws:
        TinkerforgeException
      • setEnable

        public void setEnable​(int servoChannel,
                              boolean enable)
                       throws TinkerforgeException
        Enables a servo channel (0 to 9). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.
        Throws:
        TinkerforgeException
      • setPosition

        public void setPosition​(int servoChannel,
                                int position)
                         throws TinkerforgeException
        Sets the position in °/100 for the specified servo channel. The default range of the position is -9000 to 9000, but it can be specified according to your servo with setDegree(int, int, int). 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 setDegree(int, int, int).
        Throws:
        TinkerforgeException
      • setMotionConfiguration

        public void setMotionConfiguration​(int servoChannel,
                                           long velocity,
                                           long acceleration,
                                           long deceleration)
                                    throws TinkerforgeException
        Sets the maximum velocity of the specified servo channel in °/100s as well as the acceleration and deceleration in °/100s² With a velocity of 0 °/100s the position will be set immediately (no velocity). With an acc-/deceleration of 0 °/100s² the velocity will be set immediately (no acc-/deceleration).
        Throws:
        TinkerforgeException
      • setPulseWidth

        public void setPulseWidth​(int servoChannel,
                                  long min,
                                  long max)
                           throws TinkerforgeException
        Sets the minimum and maximum pulse width of the specified servo channel in µs. Usually, servos are controlled with a `PWM <https://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.
        Throws:
        TinkerforgeException
      • setDegree

        public void setDegree​(int servoChannel,
                              int min,
                              int max)
                       throws TinkerforgeException
        Sets the minimum and maximum degree for the specified servo channel (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 setPosition(int, int) 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 setPosition(int, int) 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. setPosition(int, int) 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.
        Throws:
        TinkerforgeException
      • setPeriod

        public void setPeriod​(int servoChannel,
                              long period)
                       throws TinkerforgeException
        Sets the period of the specified servo channel in µs. Usually, servos are controlled with a `PWM <https://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 1000000µs. The default value is 19.5ms (19500µs).
        Throws:
        TinkerforgeException
      • setServoCurrentConfiguration

        public void setServoCurrentConfiguration​(int servoChannel,
                                                 int averagingDuration)
                                          throws TinkerforgeException
        Sets the averaging duration of the current measurement for the specified servo channel in ms.
        Throws:
        TinkerforgeException
      • setInputVoltageConfiguration

        public void setInputVoltageConfiguration​(int averagingDuration)
                                          throws TinkerforgeException
        Sets the averaging duration of the input voltage measurement for the specified servo channel in ms.
        Throws:
        TinkerforgeException
      • getInputVoltage

        public int getInputVoltage()
                            throws TinkerforgeException
        Returns the input voltage in mV. The input voltage is given via the black power input connector on the Servo Brick.
        Throws:
        TinkerforgeException
      • setCurrentCalibration

        public void setCurrentCalibration​(int[] offset)
                                   throws TinkerforgeException
        Sets an offset value (in mA) for each channel. Note: On delivery the Servo Bricklet 2.0 is already calibrated.
        Throws:
        TinkerforgeException
      • getSPITFPErrorCount

        public BrickletServoV2.SPITFPErrorCount getSPITFPErrorCount()
                                                             throws TinkerforgeException
        Returns the error count for the communication between Brick and Bricklet. The errors are divided into * ACK checksum errors, * message checksum errors, * framing errors and * overflow errors. The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.
        Throws:
        TinkerforgeException
      • setBootloaderMode

        public int setBootloaderMode​(int mode)
                              throws TinkerforgeException
        Sets the bootloader mode and returns the status after the requested mode change was instigated. You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • setWriteFirmwarePointer

        public void setWriteFirmwarePointer​(long pointer)
                                     throws TinkerforgeException
        Sets the firmware pointer for writeFirmware(int[]). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256). This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • writeFirmware

        public int writeFirmware​(int[] data)
                          throws TinkerforgeException
        Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer(long) before. The firmware is written to flash every 4 chunks. You can only write firmware in bootloader mode. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • setStatusLEDConfig

        public void setStatusLEDConfig​(int config)
                                throws TinkerforgeException
        Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
        Throws:
        TinkerforgeException
      • getChipTemperature

        public int getChipTemperature()
                               throws TinkerforgeException
        Returns the temperature 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 bad accuracy. Practically it is only useful as an indicator for temperature changes.
        Throws:
        TinkerforgeException
      • reset

        public void reset()
                   throws TinkerforgeException
        Calling this function will reset the Bricklet. All configurations will be lost. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
        Throws:
        TinkerforgeException
      • writeUID

        public void writeUID​(long uid)
                      throws TinkerforgeException
        Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first. We recommend that you use Brick Viewer to change the UID.
        Throws:
        TinkerforgeException
      • getIdentity

        public Device.Identity getIdentity()
                                    throws TinkerforgeException
        Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier. The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'. The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
        Specified by:
        getIdentity in class Device
        Throws:
        TinkerforgeException