public class BrickServo extends Device
Modifier and Type | Class and Description |
---|---|
class |
BrickServo.Degree |
static interface |
BrickServo.PositionReachedListener
This listener is triggered when a position set by
setPosition(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 by
setMinimumVoltage(int) . |
static interface |
BrickServo.VelocityReachedListener
This listener is triggered when a velocity set by
setVelocity(short, int)
is reached. |
Device.Identity
Constructor and Description |
---|
BrickServo(String uid,
IPConnection ipcon)
Creates an object with the unique device ID \c uid.
|
Modifier and Type | Method and 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 the
BrickServo.PositionReachedListener listener. |
void |
disableStatusLED()
Disables the status LED.
|
void |
disableVelocityReachedCallback()
Disables the
BrickServo.VelocityReachedListener listener. |
void |
enable(short servoNum)
Enables a servo (0 to 6).
|
void |
enablePositionReachedCallback()
Enables the
BrickServo.PositionReachedListener listener. |
void |
enableStatusLED()
Enables the status LED.
|
void |
enableVelocityReachedCallback()
Enables the
BrickServo.VelocityReachedListener listener. |
int |
getAcceleration(short servoNum)
Returns the acceleration for the specified servo as set by
setAcceleration(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 by
setDegree(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 by
setMinimumVoltage(int) |
int |
getOutputVoltage()
Returns the output voltage as specified by
setOutputVoltage(int) . |
int |
getOverallCurrent()
Returns the current consumption of all servos together.
|
int |
getPeriod(short servoNum)
Returns the period for the specified servo as set by
setPeriod(short, int) . |
short |
getPosition(short servoNum)
Returns the position of the specified servo as set by
setPosition(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 by
setPulseWidth(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, see
setSPITFPBaudrate(char, long) . |
BrickServo.SPITFPBaudrateConfig |
getSPITFPBaudrateConfig()
Returns the baudrate config, see
setSPITFPBaudrateConfig(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 by
setVelocity(short, int) . |
boolean |
isEnabled(short servoNum)
Returns *true* if the specified servo is enabled, *false* otherwise.
|
boolean |
isPositionReachedCallbackEnabled()
Returns *true* if
BrickServo.PositionReachedListener listener is enabled, *false* otherwise. |
boolean |
isStatusLEDEnabled()
Returns *true* if the status LED is enabled, *false* otherwise.
|
boolean |
isVelocityReachedCallbackEnabled()
Returns *true* if
BrickServo.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 the
BrickServo.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.
|
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
public static final int DEVICE_IDENTIFIER
public static final String DEVICE_DISPLAY_NAME
public static final byte FUNCTION_ENABLE
public static final byte FUNCTION_DISABLE
public static final byte FUNCTION_IS_ENABLED
public static final byte FUNCTION_SET_POSITION
public static final byte FUNCTION_GET_POSITION
public static final byte FUNCTION_GET_CURRENT_POSITION
public static final byte FUNCTION_SET_VELOCITY
public static final byte FUNCTION_GET_VELOCITY
public static final byte FUNCTION_GET_CURRENT_VELOCITY
public static final byte FUNCTION_SET_ACCELERATION
public static final byte FUNCTION_GET_ACCELERATION
public static final byte FUNCTION_SET_OUTPUT_VOLTAGE
public static final byte FUNCTION_GET_OUTPUT_VOLTAGE
public static final byte FUNCTION_SET_PULSE_WIDTH
public static final byte FUNCTION_GET_PULSE_WIDTH
public static final byte FUNCTION_SET_DEGREE
public static final byte FUNCTION_GET_DEGREE
public static final byte FUNCTION_SET_PERIOD
public static final byte FUNCTION_GET_PERIOD
public static final byte FUNCTION_GET_SERVO_CURRENT
public static final byte FUNCTION_GET_OVERALL_CURRENT
public static final byte FUNCTION_GET_STACK_INPUT_VOLTAGE
public static final byte FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
public static final byte FUNCTION_ENABLE_POSITION_REACHED_CALLBACK
public static final byte FUNCTION_DISABLE_POSITION_REACHED_CALLBACK
public static final byte FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED
public static final byte FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK
public static final byte FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK
public static final byte FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED
public static final byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_GET_SEND_TIMEOUT_COUNT
public static final byte FUNCTION_SET_SPITFP_BAUDRATE
public static final byte FUNCTION_GET_SPITFP_BAUDRATE
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_ENABLE_STATUS_LED
public static final byte FUNCTION_DISABLE_STATUS_LED
public static final byte FUNCTION_IS_STATUS_LED_ENABLED
public static final byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_RESET
public static final byte FUNCTION_WRITE_BRICKLET_PLUGIN
public static final byte FUNCTION_READ_BRICKLET_PLUGIN
public static final byte FUNCTION_GET_IDENTITY
public static final short COMMUNICATION_METHOD_NONE
public static final short COMMUNICATION_METHOD_USB
public static final short COMMUNICATION_METHOD_SPI_STACK
public static final short COMMUNICATION_METHOD_CHIBI
public static final short COMMUNICATION_METHOD_RS485
public static final short COMMUNICATION_METHOD_WIFI
public static final short COMMUNICATION_METHOD_ETHERNET
public static final short COMMUNICATION_METHOD_WIFI_V2
public BrickServo(String uid, IPConnection ipcon)
public void enable(short servoNum) throws TinkerforgeException
TinkerforgeException
public void disable(short servoNum) throws TinkerforgeException
TinkerforgeException
public boolean isEnabled(short servoNum) throws TinkerforgeException
TinkerforgeException
public void setPosition(short servoNum, short position) throws TinkerforgeException
setDegree(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 with
setDegree(short, short, short)
.TinkerforgeException
public short getPosition(short servoNum) throws TinkerforgeException
setPosition(short, short)
.TinkerforgeException
public short getCurrentPosition(short servoNum) throws TinkerforgeException
setPosition(short, short)
if the servo is currently approaching a
position goal.TinkerforgeException
public void setVelocity(short servoNum, int velocity) throws TinkerforgeException
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).TinkerforgeException
public int getVelocity(short servoNum) throws TinkerforgeException
setVelocity(short, int)
.TinkerforgeException
public int getCurrentVelocity(short servoNum) throws TinkerforgeException
setVelocity(short, int)
if the servo is currently approaching a
velocity goal.TinkerforgeException
public void setAcceleration(short servoNum, int acceleration) throws TinkerforgeException
TinkerforgeException
public int getAcceleration(short servoNum) throws TinkerforgeException
setAcceleration(short, int)
.TinkerforgeException
public void setOutputVoltage(int voltage) throws TinkerforgeException
TinkerforgeException
public int getOutputVoltage() throws TinkerforgeException
setOutputVoltage(int)
.TinkerforgeException
public void setPulseWidth(short servoNum, int min, int max) throws TinkerforgeException
TinkerforgeException
public BrickServo.PulseWidth getPulseWidth(short servoNum) throws TinkerforgeException
setPulseWidth(short, int, int)
.TinkerforgeException
public void setDegree(short servoNum, short min, short max) throws TinkerforgeException
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.TinkerforgeException
public BrickServo.Degree getDegree(short servoNum) throws TinkerforgeException
setDegree(short, short, short)
.TinkerforgeException
public void setPeriod(short servoNum, int period) throws TinkerforgeException
TinkerforgeException
public int getPeriod(short servoNum) throws TinkerforgeException
setPeriod(short, int)
.TinkerforgeException
public int getServoCurrent(short servoNum) throws TinkerforgeException
TinkerforgeException
public int getOverallCurrent() throws TinkerforgeException
TinkerforgeException
public int getStackInputVoltage() throws TinkerforgeException
TinkerforgeException
public int getExternalInputVoltage() throws TinkerforgeException
TinkerforgeException
public void setMinimumVoltage(int voltage) throws TinkerforgeException
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.TinkerforgeException
public int getMinimumVoltage() throws TinkerforgeException
setMinimumVoltage(int)
TinkerforgeException
public void enablePositionReachedCallback() throws TinkerforgeException
BrickServo.PositionReachedListener
listener.
Default is disabled.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public void disablePositionReachedCallback() throws TinkerforgeException
BrickServo.PositionReachedListener
listener.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public boolean isPositionReachedCallbackEnabled() throws TinkerforgeException
BrickServo.PositionReachedListener
listener is enabled, *false* otherwise.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public void enableVelocityReachedCallback() throws TinkerforgeException
BrickServo.VelocityReachedListener
listener.
Default is disabled.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public void disableVelocityReachedCallback() throws TinkerforgeException
BrickServo.VelocityReachedListener
listener.
Default is disabled.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public boolean isVelocityReachedCallbackEnabled() throws TinkerforgeException
BrickServo.VelocityReachedListener
listener is enabled, *false* otherwise.
.. versionadded:: 2.0.1$nbsp;(Firmware)TinkerforgeException
public void setSPITFPBaudrateConfig(boolean enableDynamicBaudrate, long minimumDynamicBaudrate) throws TinkerforgeException
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$nbsp;(Firmware)TinkerforgeException
public BrickServo.SPITFPBaudrateConfig getSPITFPBaudrateConfig() throws TinkerforgeException
setSPITFPBaudrateConfig(boolean, long)
.
.. versionadded:: 2.3.4$nbsp;(Firmware)TinkerforgeException
public long getSendTimeoutCount(short communicationMethod) throws TinkerforgeException
TinkerforgeException
public void setSPITFPBaudrate(char brickletPort, long baudrate) throws TinkerforgeException
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$nbsp;(Firmware)TinkerforgeException
public long getSPITFPBaudrate(char brickletPort) throws TinkerforgeException
setSPITFPBaudrate(char, long)
.
.. versionadded:: 2.3.2$nbsp;(Firmware)TinkerforgeException
public BrickServo.SPITFPErrorCount getSPITFPErrorCount(char brickletPort) throws TinkerforgeException
TinkerforgeException
public void enableStatusLED() throws TinkerforgeException
TinkerforgeException
public void disableStatusLED() throws TinkerforgeException
TinkerforgeException
public boolean isStatusLEDEnabled() throws TinkerforgeException
TinkerforgeException
public BrickServo.Protocol1BrickletName getProtocol1BrickletName(char port) throws TinkerforgeException
TinkerforgeException
public short getChipTemperature() throws TinkerforgeException
TinkerforgeException
public void reset() throws TinkerforgeException
TinkerforgeException
public void writeBrickletPlugin(char port, short offset, short[] chunk) throws TinkerforgeException
TinkerforgeException
public short[] readBrickletPlugin(char port, short offset) throws TinkerforgeException
TinkerforgeException
public Device.Identity getIdentity() throws TinkerforgeException
getIdentity
in class Device
TinkerforgeException
public void addUnderVoltageListener(BrickServo.UnderVoltageListener listener)
public void removeUnderVoltageListener(BrickServo.UnderVoltageListener listener)
public void addPositionReachedListener(BrickServo.PositionReachedListener listener)
public void removePositionReachedListener(BrickServo.PositionReachedListener listener)
public void addVelocityReachedListener(BrickServo.VelocityReachedListener listener)
public void removeVelocityReachedListener(BrickServo.VelocityReachedListener listener)
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