Class: Phidgets::AdvancedServo

Inherits:
Object
  • Object
show all
Includes:
Common
Defined in:
lib/phidgets-ffi/advanced_servo.rb

Overview

This class represents a PhidgetAdvancedServo.

Defined Under Namespace

Classes: AdvancedServoServos

Constant Summary collapse

Klass = 
Phidgets::FFI::CPhidgetAdvancedServo

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Common

#attached?, #attached_to_server?, attributes, #close, #detached?, #detached_to_server?, device_class, #device_class, device_id, #id, #initialize, #label, #label=, #name, #on_attach, #on_detach, #on_error, #on_server_connect, #on_server_disconnect, #on_sleep, #on_wake, #serial_number, #server_address, server_address, #server_id, server_id, server_status, #type, #version, #wait_for_attachment

Instance Attribute Details

#advanced_servos ⇒ AdvancedServoServos (readonly)

Collection of servo motors

Returns:



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 11

def advanced_servos
  @advanced_servos
end

#attributes ⇒ Object (readonly)

The attributes of a PhidgetAdvancedServo



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 16

def attributes
  @attributes
end

Instance Method Details

#on_current_change(obj = nil, &block) ⇒ Boolean

Sets a current change handler handler callback function. This is called when the current consumed by a motor changes.

As this runs in it’s own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.

Examples:

adv.on_current_change do |device, servo, current, obj|
  puts "Servo #{servo.index}'s current has changed to #{current}"
end

Parameters:

  • obj (String) (defaults to: nil) —

    Object to pass to the callback function. This is optional.

  • Block (Proc) —

    When the callback is executed, the device and object are yielded to this block.

Returns:

  • (Boolean) —

    returns true or raises an error



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 70

def on_current_change(obj=nil, &block)
	
  @on_current_change_obj = obj
  @on_current_change = Proc.new { |device, obj_ptr, index, current|
 yield self, @advanced_servos[index], current, object_for(obj_ptr)
	}
  Klass.set_OnCurrentChange_Handler(@handle, @on_current_change, pointer_for(obj))
end

#on_position_change(obj = nil, &block) ⇒ Boolean

Sets a position change handler callback function. This is called when the servo position has changed.

As this runs in it’s own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.

Examples:

adv.on_position_change do |device, servo, position, obj|
  puts "Servo #{servo.index}'s position has changed to #{position}"
end

Parameters:

  • obj (String) (defaults to: nil) —

    Object to pass to the callback function. This is optional.

  • Block (Proc) —

    When the callback is executed, the device and object are yielded to this block.

Returns:

  • (Boolean) —

    returns true or raises an error



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 51

def on_position_change(obj=nil, &block)
	
  @on_position_change_obj = obj
  @on_position_change = Proc.new { |device, obj_ptr, index, position|
 yield self, @advanced_servos[index], position, object_for(obj_ptr)
	}
  Klass.set_OnPositionChange_Handler(@handle, @on_position_change, pointer_for(obj))
end

#on_velocity_change(obj = nil, &block) ⇒ Boolean

Sets a velocity change handler callback function. This is called when the velocity of a servo changes.

As this runs in it’s own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.

Examples:

adv.on_velocity_change do |device, servo, velocity, obj|
  puts "Servo #{servo.index}'s velocity has changed to #{velocity}"
end

Parameters:

  • obj (String) (defaults to: nil) —

    Object to pass to the callback function. This is optional.

  • Block (Proc) —

    When the callback is executed, the device and object are yielded to this block.

Returns:

  • (Boolean) —

    returns true or raises an error



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 32

def on_velocity_change(obj=nil, &block)
	
  @on_velocity_change_obj = obj
  @on_velocity_change = Proc.new { |device, obj_ptr, index, velocity|
 yield self, @advanced_servos[index], velocity, object_for(obj_ptr)
	}
  Klass.set_OnVelocityChange_Handler(@handle, @on_velocity_change, pointer_for(obj))
end