Class BrickServo


  • public class BrickServo
    extends Device
    Drives up to 7 RC Servos with up to 3A
    • 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_ACCELERATION

        public static final byte FUNCTION_SET_ACCELERATION
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      • FUNCTION_GET_ACCELERATION

        public static final byte FUNCTION_GET_ACCELERATION
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      • FUNCTION_SET_OUTPUT_VOLTAGE

        public static final byte FUNCTION_SET_OUTPUT_VOLTAGE
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      • FUNCTION_GET_OUTPUT_VOLTAGE

        public static final byte FUNCTION_GET_OUTPUT_VOLTAGE
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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
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      • FUNCTION_GET_SERVO_CURRENT

        public static final byte FUNCTION_GET_SERVO_CURRENT
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      • FUNCTION_GET_OVERALL_CURRENT

        public static final byte FUNCTION_GET_OVERALL_CURRENT
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      • FUNCTION_GET_STACK_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_STACK_INPUT_VOLTAGE
        See Also:
        Constant Field Values
      • FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
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      • FUNCTION_SET_MINIMUM_VOLTAGE

        public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
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      • FUNCTION_GET_MINIMUM_VOLTAGE

        public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
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      • FUNCTION_ENABLE_POSITION_REACHED_CALLBACK

        public static final byte FUNCTION_ENABLE_POSITION_REACHED_CALLBACK
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      • FUNCTION_DISABLE_POSITION_REACHED_CALLBACK

        public static final byte FUNCTION_DISABLE_POSITION_REACHED_CALLBACK
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      • FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED

        public static final byte FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED
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      • FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK

        public static final byte FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK
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      • FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK

        public static final byte FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK
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      • FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED

        public static final byte FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED
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      • FUNCTION_SET_SPITFP_BAUDRATE_CONFIG

        public static final byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
        See Also:
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      • FUNCTION_GET_SPITFP_BAUDRATE_CONFIG

        public static final byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
        See Also:
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      • FUNCTION_GET_SEND_TIMEOUT_COUNT

        public static final byte FUNCTION_GET_SEND_TIMEOUT_COUNT
        See Also:
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      • FUNCTION_SET_SPITFP_BAUDRATE

        public static final byte FUNCTION_SET_SPITFP_BAUDRATE
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      • FUNCTION_GET_SPITFP_BAUDRATE

        public static final byte FUNCTION_GET_SPITFP_BAUDRATE
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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_ENABLE_STATUS_LED

        public static final byte FUNCTION_ENABLE_STATUS_LED
        See Also:
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      • FUNCTION_DISABLE_STATUS_LED

        public static final byte FUNCTION_DISABLE_STATUS_LED
        See Also:
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      • FUNCTION_IS_STATUS_LED_ENABLED

        public static final byte FUNCTION_IS_STATUS_LED_ENABLED
        See Also:
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      • FUNCTION_GET_PROTOCOL1_BRICKLET_NAME

        public static final byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
        See Also:
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
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      • FUNCTION_WRITE_BRICKLET_PLUGIN

        public static final byte FUNCTION_WRITE_BRICKLET_PLUGIN
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      • FUNCTION_READ_BRICKLET_PLUGIN

        public static final byte FUNCTION_READ_BRICKLET_PLUGIN
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      • COMMUNICATION_METHOD_NONE

        public static final short COMMUNICATION_METHOD_NONE
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      • COMMUNICATION_METHOD_USB

        public static final short COMMUNICATION_METHOD_USB
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      • COMMUNICATION_METHOD_SPI_STACK

        public static final short COMMUNICATION_METHOD_SPI_STACK
        See Also:
        Constant Field Values
      • COMMUNICATION_METHOD_CHIBI

        public static final short COMMUNICATION_METHOD_CHIBI
        See Also:
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      • COMMUNICATION_METHOD_RS485

        public static final short COMMUNICATION_METHOD_RS485
        See Also:
        Constant Field Values
      • COMMUNICATION_METHOD_WIFI

        public static final short COMMUNICATION_METHOD_WIFI
        See Also:
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      • COMMUNICATION_METHOD_ETHERNET

        public static final short COMMUNICATION_METHOD_ETHERNET
        See Also:
        Constant Field Values
      • COMMUNICATION_METHOD_WIFI_V2

        public static final short COMMUNICATION_METHOD_WIFI_V2
        See Also:
        Constant Field Values
    • Constructor Detail

      • BrickServo

        public BrickServo​(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

      • enable

        public void enable​(short servoNum)
                    throws TinkerforgeException
        Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.
        Throws:
        TinkerforgeException
      • disable

        public void disable​(short servoNum)
                     throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • setVelocity

        public void setVelocity​(short servoNum,
                                int velocity)
                         throws TinkerforgeException
        Sets the maximum velocity of the specified servo. The velocity is accelerated according to the value set by setAcceleration(short, int). 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).
        Throws:
        TinkerforgeException
      • setAcceleration

        public void setAcceleration​(short servoNum,
                                    int acceleration)
                             throws TinkerforgeException
        Sets the acceleration of the specified servo. The minimum acceleration is 1 and the maximum acceleration is 65535. With a value of 65535 the velocity will be set immediately (no acceleration).
        Throws:
        TinkerforgeException
      • setOutputVoltage

        public void setOutputVoltage​(int voltage)
                              throws TinkerforgeException
        Sets the output voltages with which the servos are driven. \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.
        Throws:
        TinkerforgeException
      • setPulseWidth

        public void setPulseWidth​(short servoNum,
                                  int min,
                                  int max)
                           throws TinkerforgeException
        Sets the minimum and maximum pulse width of the specified servo. 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. The minimum must be smaller than the maximum.
        Throws:
        TinkerforgeException
      • setDegree

        public void setDegree​(short servoNum,
                              short min,
                              short max)
                       throws TinkerforgeException
        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 setPosition(short, short) 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(short, short) 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(short, short) now controls the rpm. The minimum must be smaller than the maximum.
        Throws:
        TinkerforgeException
      • setPeriod

        public void setPeriod​(short servoNum,
                              int period)
                       throws TinkerforgeException
        Sets the period of the specified servo. 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 will most likely work fine.
        Throws:
        TinkerforgeException
      • getStackInputVoltage

        public int getStackInputVoltage()
                                 throws TinkerforgeException
        Returns the stack input voltage. 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.
        Throws:
        TinkerforgeException
      • getExternalInputVoltage

        public int getExternalInputVoltage()
                                    throws TinkerforgeException
        Returns the external input voltage. 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
        Throws:
        TinkerforgeException
      • setMinimumVoltage

        public void setMinimumVoltage​(int voltage)
                               throws TinkerforgeException
        Sets the minimum voltage, below which the BrickServo.UnderVoltageListener listener 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.
        Throws:
        TinkerforgeException
      • setSPITFPBaudrateConfig

        public void setSPITFPBaudrateConfig​(boolean enableDynamicBaudrate,
                                            long minimumDynamicBaudrate)
                                     throws TinkerforgeException
        The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred. The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received. This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed. In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance. The maximum value of the baudrate can be set per port with the function setSPITFPBaudrate(char, long). If the dynamic baudrate is disabled, the baudrate as set by setSPITFPBaudrate(char, long) will be used statically. .. versionadded:: 2.3.4$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getSendTimeoutCount

        public long getSendTimeoutCount​(short communicationMethod)
                                 throws TinkerforgeException
        Returns the timeout count for the different communication methods. The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks. This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0. .. versionadded:: 2.3.2$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • setSPITFPBaudrate

        public void setSPITFPBaudrate​(char brickletPort,
                                      long baudrate)
                               throws TinkerforgeException
        Sets the baudrate for a specific Bricklet port. If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see getSPITFPErrorCount(char)) you can decrease the baudrate. If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see setSPITFPBaudrateConfig(boolean, long)). Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate. .. versionadded:: 2.3.2$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getSPITFPErrorCount

        public BrickServo.SPITFPErrorCount getSPITFPErrorCount​(char brickletPort)
                                                        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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side. .. versionadded:: 2.3.2$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • enableStatusLED

        public void enableStatusLED()
                             throws TinkerforgeException
        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$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • disableStatusLED

        public void disableStatusLED()
                              throws TinkerforgeException
        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$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • isStatusLEDEnabled

        public boolean isStatusLEDEnabled()
                                   throws TinkerforgeException
        Returns *true* if the status LED is enabled, *false* otherwise. .. versionadded:: 2.3.1$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getChipTemperature

        public short 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 an accuracy of ±15%. 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 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!
        Throws:
        TinkerforgeException
      • writeBrickletPlugin

        public void writeBrickletPlugin​(char port,
                                        short offset,
                                        short[] chunk)
                                 throws TinkerforgeException
        Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • readBrickletPlugin

        public short[] readBrickletPlugin​(char port,
                                          short offset)
                                   throws TinkerforgeException
        Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • getIdentity

        public Device.Identity getIdentity()
                                    throws TinkerforgeException
        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 is the position in the stack from '0' (bottom) to '8' (top). The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
        Specified by:
        getIdentity in class Device
        Throws:
        TinkerforgeException