Package com.tinkerforge
Class BrickServo
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickServo
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public class BrickServo extends Device
Drives up to 7 RC Servos with up to 3A
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Nested Class Summary
Nested Classes Modifier and Type Class Description class
BrickServo.Degree
static interface
BrickServo.PositionReachedListener
This listener is triggered when a position set bysetPosition(short, short)
is reached.class
BrickServo.Protocol1BrickletName
class
BrickServo.PulseWidth
class
BrickServo.SPITFPBaudrateConfig
class
BrickServo.SPITFPErrorCount
static interface
BrickServo.UnderVoltageListener
This listener is triggered when the input voltage drops below the value set bysetMinimumVoltage(int)
.static interface
BrickServo.VelocityReachedListener
This listener is triggered when a velocity set bysetVelocity(short, int)
is reached.-
Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickServo(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addPositionReachedListener(BrickServo.PositionReachedListener listener)
Adds a PositionReached listener.void
addUnderVoltageListener(BrickServo.UnderVoltageListener listener)
Adds a UnderVoltage listener.void
addVelocityReachedListener(BrickServo.VelocityReachedListener listener)
Adds a VelocityReached listener.void
disable(short servoNum)
Disables a servo (0 to 6).void
disablePositionReachedCallback()
Disables theBrickServo.PositionReachedListener
listener.void
disableStatusLED()
Disables the status LED.void
disableVelocityReachedCallback()
Disables theBrickServo.VelocityReachedListener
listener.void
enable(short servoNum)
Enables a servo (0 to 6).void
enablePositionReachedCallback()
Enables theBrickServo.PositionReachedListener
listener.void
enableStatusLED()
Enables the status LED.void
enableVelocityReachedCallback()
Enables theBrickServo.VelocityReachedListener
listener.int
getAcceleration(short servoNum)
Returns the acceleration for the specified servo as set bysetAcceleration(short, int)
.short
getChipTemperature()
Returns the temperature as measured inside the microcontroller.short
getCurrentPosition(short servoNum)
Returns the *current* position of the specified servo.int
getCurrentVelocity(short servoNum)
Returns the *current* velocity of the specified servo.BrickServo.Degree
getDegree(short servoNum)
Returns the minimum and maximum degree for the specified servo as set bysetDegree(short, short, short)
.int
getExternalInputVoltage()
Returns the external input voltage.Device.Identity
getIdentity()
Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.int
getMinimumVoltage()
Returns the minimum voltage as set bysetMinimumVoltage(int)
int
getOutputVoltage()
Returns the output voltage as specified bysetOutputVoltage(int)
.int
getOverallCurrent()
Returns the current consumption of all servos together.int
getPeriod(short servoNum)
Returns the period for the specified servo as set bysetPeriod(short, int)
.short
getPosition(short servoNum)
Returns the position of the specified servo as set bysetPosition(short, short)
.BrickServo.Protocol1BrickletName
getProtocol1BrickletName(char port)
Returns the firmware and protocol version and the name of the Bricklet for a given port.BrickServo.PulseWidth
getPulseWidth(short servoNum)
Returns the minimum and maximum pulse width for the specified servo as set bysetPulseWidth(short, int, int)
.long
getSendTimeoutCount(short communicationMethod)
Returns the timeout count for the different communication methods.int
getServoCurrent(short servoNum)
Returns the current consumption of the specified servo.long
getSPITFPBaudrate(char brickletPort)
Returns the baudrate for a given Bricklet port, seesetSPITFPBaudrate(char, long)
.BrickServo.SPITFPBaudrateConfig
getSPITFPBaudrateConfig()
Returns the baudrate config, seesetSPITFPBaudrateConfig(boolean, long)
.BrickServo.SPITFPErrorCount
getSPITFPErrorCount(char brickletPort)
Returns the error count for the communication between Brick and Bricklet.int
getStackInputVoltage()
Returns the stack input voltage.int
getVelocity(short servoNum)
Returns the velocity of the specified servo as set bysetVelocity(short, int)
.boolean
isEnabled(short servoNum)
Returns *true* if the specified servo is enabled, *false* otherwise.boolean
isPositionReachedCallbackEnabled()
Returns *true* ifBrickServo.PositionReachedListener
listener is enabled, *false* otherwise.boolean
isStatusLEDEnabled()
Returns *true* if the status LED is enabled, *false* otherwise.boolean
isVelocityReachedCallbackEnabled()
Returns *true* ifBrickServo.VelocityReachedListener
listener is enabled, *false* otherwise.short[]
readBrickletPlugin(char port, short offset)
Reads 32 bytes of firmware from the bricklet attached at the given port.void
removePositionReachedListener(BrickServo.PositionReachedListener listener)
Removes a PositionReached listener.void
removeUnderVoltageListener(BrickServo.UnderVoltageListener listener)
Removes a UnderVoltage listener.void
removeVelocityReachedListener(BrickServo.VelocityReachedListener listener)
Removes a VelocityReached listener.void
reset()
Calling this function will reset the Brick.void
setAcceleration(short servoNum, int acceleration)
Sets the acceleration of the specified servo.void
setDegree(short servoNum, short min, short max)
Sets the minimum and maximum degree for the specified servo (by default given as °/100).void
setMinimumVoltage(int voltage)
Sets the minimum voltage, below which theBrickServo.UnderVoltageListener
listener is triggered.void
setOutputVoltage(int voltage)
Sets the output voltages with which the servos are driven.void
setPeriod(short servoNum, int period)
Sets the period of the specified servo.void
setPosition(short servoNum, short position)
Sets the position for the specified servo.void
setPulseWidth(short servoNum, int min, int max)
Sets the minimum and maximum pulse width of the specified servo.void
setSPITFPBaudrate(char brickletPort, long baudrate)
Sets the baudrate for a specific Bricklet port.void
setSPITFPBaudrateConfig(boolean enableDynamicBaudrate, long minimumDynamicBaudrate)
The SPITF protocol can be used with a dynamic baudrate.void
setVelocity(short servoNum, int velocity)
Sets the maximum velocity of the specified servo.void
writeBrickletPlugin(char port, short offset, short[] chunk)
Writes 32 bytes of firmware to the bricklet attached at the given port.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
- See Also:
- Constant Field Values
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FUNCTION_ENABLE
public static final byte FUNCTION_ENABLE
- See Also:
- Constant Field Values
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FUNCTION_DISABLE
public static final byte FUNCTION_DISABLE
- See Also:
- Constant Field Values
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FUNCTION_IS_ENABLED
public static final byte FUNCTION_IS_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_SET_POSITION
public static final byte FUNCTION_SET_POSITION
- See Also:
- Constant Field Values
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FUNCTION_GET_POSITION
public static final byte FUNCTION_GET_POSITION
- See Also:
- Constant Field Values
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FUNCTION_GET_CURRENT_POSITION
public static final byte FUNCTION_GET_CURRENT_POSITION
- See Also:
- Constant Field Values
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FUNCTION_SET_VELOCITY
public static final byte FUNCTION_SET_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_GET_VELOCITY
public static final byte FUNCTION_GET_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_GET_CURRENT_VELOCITY
public static final byte FUNCTION_GET_CURRENT_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_SET_ACCELERATION
public static final byte FUNCTION_SET_ACCELERATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ACCELERATION
public static final byte FUNCTION_GET_ACCELERATION
- See Also:
- Constant Field Values
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FUNCTION_SET_OUTPUT_VOLTAGE
public static final byte FUNCTION_SET_OUTPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_OUTPUT_VOLTAGE
public static final byte FUNCTION_GET_OUTPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_PULSE_WIDTH
public static final byte FUNCTION_SET_PULSE_WIDTH
- See Also:
- Constant Field Values
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FUNCTION_GET_PULSE_WIDTH
public static final byte FUNCTION_GET_PULSE_WIDTH
- See Also:
- Constant Field Values
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FUNCTION_SET_DEGREE
public static final byte FUNCTION_SET_DEGREE
- See Also:
- Constant Field Values
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FUNCTION_GET_DEGREE
public static final byte FUNCTION_GET_DEGREE
- See Also:
- Constant Field Values
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FUNCTION_SET_PERIOD
public static final byte FUNCTION_SET_PERIOD
- See Also:
- Constant Field Values
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FUNCTION_GET_PERIOD
public static final byte FUNCTION_GET_PERIOD
- See Also:
- Constant Field Values
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FUNCTION_GET_SERVO_CURRENT
public static final byte FUNCTION_GET_SERVO_CURRENT
- See Also:
- Constant Field Values
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FUNCTION_GET_OVERALL_CURRENT
public static final byte FUNCTION_GET_OVERALL_CURRENT
- See Also:
- Constant Field Values
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FUNCTION_GET_STACK_INPUT_VOLTAGE
public static final byte FUNCTION_GET_STACK_INPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
public static final byte FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_MINIMUM_VOLTAGE
public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_MINIMUM_VOLTAGE
public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_ENABLE_POSITION_REACHED_CALLBACK
public static final byte FUNCTION_ENABLE_POSITION_REACHED_CALLBACK
- See Also:
- Constant Field Values
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FUNCTION_DISABLE_POSITION_REACHED_CALLBACK
public static final byte FUNCTION_DISABLE_POSITION_REACHED_CALLBACK
- See Also:
- Constant Field Values
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FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED
public static final byte FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK
public static final byte FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK
- See Also:
- Constant Field Values
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FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK
public static final byte FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK
- See Also:
- Constant Field Values
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FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED
public static final byte FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_SEND_TIMEOUT_COUNT
public static final byte FUNCTION_GET_SEND_TIMEOUT_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_SPITFP_BAUDRATE
public static final byte FUNCTION_SET_SPITFP_BAUDRATE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_BAUDRATE
public static final byte FUNCTION_GET_SPITFP_BAUDRATE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_ENABLE_STATUS_LED
public static final byte FUNCTION_ENABLE_STATUS_LED
- See Also:
- Constant Field Values
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FUNCTION_DISABLE_STATUS_LED
public static final byte FUNCTION_DISABLE_STATUS_LED
- See Also:
- Constant Field Values
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FUNCTION_IS_STATUS_LED_ENABLED
public static final byte FUNCTION_IS_STATUS_LED_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
public static final byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_BRICKLET_PLUGIN
public static final byte FUNCTION_WRITE_BRICKLET_PLUGIN
- See Also:
- Constant Field Values
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FUNCTION_READ_BRICKLET_PLUGIN
public static final byte FUNCTION_READ_BRICKLET_PLUGIN
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_NONE
public static final short COMMUNICATION_METHOD_NONE
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_USB
public static final short COMMUNICATION_METHOD_USB
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_SPI_STACK
public static final short COMMUNICATION_METHOD_SPI_STACK
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_CHIBI
public static final short COMMUNICATION_METHOD_CHIBI
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_RS485
public static final short COMMUNICATION_METHOD_RS485
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_WIFI
public static final short COMMUNICATION_METHOD_WIFI
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_ETHERNET
public static final short COMMUNICATION_METHOD_ETHERNET
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_WIFI_V2
public static final short COMMUNICATION_METHOD_WIFI_V2
- See Also:
- Constant Field Values
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Constructor Detail
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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.
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Method Detail
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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
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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
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isEnabled
public boolean isEnabled(short servoNum) throws TinkerforgeException
Returns *true* if the specified servo is enabled, *false* otherwise.- Throws:
TinkerforgeException
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setPosition
public void setPosition(short servoNum, short position) throws TinkerforgeException
Sets the position for the specified servo. The default range of the position is -9000 to 9000, but it can be specified according to your servo withsetDegree(short, short, short)
. 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 withsetDegree(short, short, short)
.- Throws:
TinkerforgeException
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getPosition
public short getPosition(short servoNum) throws TinkerforgeException
Returns the position of the specified servo as set bysetPosition(short, short)
.- Throws:
TinkerforgeException
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getCurrentPosition
public short getCurrentPosition(short servoNum) throws TinkerforgeException
Returns the *current* position of the specified servo. This may not be the value ofsetPosition(short, short)
if the servo is currently approaching a position goal.- Throws:
TinkerforgeException
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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 bysetAcceleration(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
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getVelocity
public int getVelocity(short servoNum) throws TinkerforgeException
Returns the velocity of the specified servo as set bysetVelocity(short, int)
.- Throws:
TinkerforgeException
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getCurrentVelocity
public int getCurrentVelocity(short servoNum) throws TinkerforgeException
Returns the *current* velocity of the specified servo. This may not be the value ofsetVelocity(short, int)
if the servo is currently approaching a velocity goal.- Throws:
TinkerforgeException
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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
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getAcceleration
public int getAcceleration(short servoNum) throws TinkerforgeException
Returns the acceleration for the specified servo as set bysetAcceleration(short, int)
.- Throws:
TinkerforgeException
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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
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getOutputVoltage
public int getOutputVoltage() throws TinkerforgeException
Returns the output voltage as specified bysetOutputVoltage(int)
.- Throws:
TinkerforgeException
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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
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getPulseWidth
public BrickServo.PulseWidth getPulseWidth(short servoNum) throws TinkerforgeException
Returns the minimum and maximum pulse width for the specified servo as set bysetPulseWidth(short, int, int)
.- Throws:
TinkerforgeException
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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 ofsetPosition(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 withsetPosition(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
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getDegree
public BrickServo.Degree getDegree(short servoNum) throws TinkerforgeException
Returns the minimum and maximum degree for the specified servo as set bysetDegree(short, short, short)
.- Throws:
TinkerforgeException
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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
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getPeriod
public int getPeriod(short servoNum) throws TinkerforgeException
Returns the period for the specified servo as set bysetPeriod(short, int)
.- Throws:
TinkerforgeException
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getServoCurrent
public int getServoCurrent(short servoNum) throws TinkerforgeException
Returns the current consumption of the specified servo.- Throws:
TinkerforgeException
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getOverallCurrent
public int getOverallCurrent() throws TinkerforgeException
Returns the current consumption of all servos together.- Throws:
TinkerforgeException
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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
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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
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setMinimumVoltage
public void setMinimumVoltage(int voltage) throws TinkerforgeException
Sets the minimum voltage, below which theBrickServo.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
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getMinimumVoltage
public int getMinimumVoltage() throws TinkerforgeException
Returns the minimum voltage as set bysetMinimumVoltage(int)
- Throws:
TinkerforgeException
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enablePositionReachedCallback
public void enablePositionReachedCallback() throws TinkerforgeException
Enables theBrickServo.PositionReachedListener
listener. Default is disabled. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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disablePositionReachedCallback
public void disablePositionReachedCallback() throws TinkerforgeException
Disables theBrickServo.PositionReachedListener
listener. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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isPositionReachedCallbackEnabled
public boolean isPositionReachedCallbackEnabled() throws TinkerforgeException
Returns *true* ifBrickServo.PositionReachedListener
listener is enabled, *false* otherwise. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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enableVelocityReachedCallback
public void enableVelocityReachedCallback() throws TinkerforgeException
Enables theBrickServo.VelocityReachedListener
listener. Default is disabled. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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disableVelocityReachedCallback
public void disableVelocityReachedCallback() throws TinkerforgeException
Disables theBrickServo.VelocityReachedListener
listener. Default is disabled. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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isVelocityReachedCallbackEnabled
public boolean isVelocityReachedCallbackEnabled() throws TinkerforgeException
Returns *true* ifBrickServo.VelocityReachedListener
listener is enabled, *false* otherwise. .. versionadded:: 2.0.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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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 functionsetSPITFPBaudrate(char, long)
. If the dynamic baudrate is disabled, the baudrate as set bysetSPITFPBaudrate(char, long)
will be used statically. .. versionadded:: 2.3.4$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPBaudrateConfig
public BrickServo.SPITFPBaudrateConfig getSPITFPBaudrateConfig() throws TinkerforgeException
Returns the baudrate config, seesetSPITFPBaudrateConfig(boolean, long)
. .. versionadded:: 2.3.4$nbsp;(Firmware)- Throws:
TinkerforgeException
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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$nbsp;(Firmware)- Throws:
TinkerforgeException
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setSPITFPBaudrate
public void setSPITFPBaudrate(char brickletPort, long baudrate) throws TinkerforgeException
Sets the baudrate for a specific Bricklet port. If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (seegetSPITFPErrorCount(char)
) you can decrease the baudrate. If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (seesetSPITFPBaudrateConfig(boolean, long)
). Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate. .. versionadded:: 2.3.2$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPBaudrate
public long getSPITFPBaudrate(char brickletPort) throws TinkerforgeException
Returns the baudrate for a given Bricklet port, seesetSPITFPBaudrate(char, long)
. .. versionadded:: 2.3.2$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPErrorCount
public BrickServo.SPITFPErrorCount getSPITFPErrorCount(char brickletPort) throws TinkerforgeException
Returns the error count for the communication between Brick and Bricklet. The errors are divided into * ACK checksum errors, * message checksum errors, * framing errors and * overflow errors. The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side. .. versionadded:: 2.3.2$nbsp;(Firmware)- Throws:
TinkerforgeException
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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$nbsp;(Firmware)- Throws:
TinkerforgeException
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disableStatusLED
public void disableStatusLED() throws TinkerforgeException
Disables the status LED. The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off. The default state is enabled. .. versionadded:: 2.3.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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isStatusLEDEnabled
public boolean isStatusLEDEnabled() throws TinkerforgeException
Returns *true* if the status LED is enabled, *false* otherwise. .. versionadded:: 2.3.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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getProtocol1BrickletName
public BrickServo.Protocol1BrickletName getProtocol1BrickletName(char port) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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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
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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
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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
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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
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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 classDevice
- Throws:
TinkerforgeException
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addUnderVoltageListener
public void addUnderVoltageListener(BrickServo.UnderVoltageListener listener)
Adds a UnderVoltage listener.
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removeUnderVoltageListener
public void removeUnderVoltageListener(BrickServo.UnderVoltageListener listener)
Removes a UnderVoltage listener.
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addPositionReachedListener
public void addPositionReachedListener(BrickServo.PositionReachedListener listener)
Adds a PositionReached listener.
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removePositionReachedListener
public void removePositionReachedListener(BrickServo.PositionReachedListener listener)
Removes a PositionReached listener.
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addVelocityReachedListener
public void addVelocityReachedListener(BrickServo.VelocityReachedListener listener)
Adds a VelocityReached listener.
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removeVelocityReachedListener
public void removeVelocityReachedListener(BrickServo.VelocityReachedListener listener)
Removes a VelocityReached listener.
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