Class: Phidgets::AdvancedServo::AdvancedServoServos

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

Overview

This class represents a servo motor for a PhidgetAdvancedServo. All the properties of an servo motor are stored and modified in this class.

Constant Summary collapse

Klass = 
Phidgets::FFI::CPhidgetAdvancedServo

Instance Method Summary collapse

Instance Method Details

#acceleration ⇒ Float

Returns the acceleration of a servo, in degrees/second, or raises an error.

Returns:

  • (Float) —

    returns the acceleration of a servo, in degrees/second, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 101

def acceleration
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getAcceleration(@handle, @index, ptr)
  ptr.get_double(0)
end

#acceleration=(new_acceleration) ⇒ Float

Sets the acceleration of a servo, in degrees/second, or raises an error.

Parameters:

  • new_acceleration (Integer) —

    new acceleration

Returns:

  • (Float) —

    returns acceleration of a servo, in degrees/second, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 110

def acceleration=(new_acceleration)
  Klass.setAcceleration(@handle, @index, new_acceleration.to_f)
	  new_acceleration
end

#acceleration_max ⇒ Float

Returns the largest acceleration value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the largest acceleration value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 116

def acceleration_max
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getAccelerationMax(@handle, @index, ptr)
  ptr.get_double(0)
end

#acceleration_min ⇒ Float

Returns the smallest acceleration value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the smallest acceleration value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 123

def acceleration_min
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getAccelerationMin(@handle, @index, ptr)
  ptr.get_double(0)
end

#current ⇒ Float

Returns the current consumption of a servo motor, in Amps, or raises an error.

Returns:

  • (Float) —

    returns the current consumption of a servo motor, in Amps, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 130

def current
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getCurrent(@handle, @index, ptr)
  ptr.get_double(0)
end

#engaged ⇒ Boolean

Returns the engaged state of a servo motor, or raises an error.

Returns:

  • (Boolean) —

    returns the engaged state of a servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 137

def engaged
  ptr = ::FFI::MemoryPointer.new(:int)
  Klass.getEngaged(@handle, @index, ptr)
  (ptr.get_int(0) == 0) ? false : true
end

#engaged=(new_state) ⇒ Boolean

Sets the engaged state of a servo motor, or raises an error.

Parameters:

  • new_state (Boolean) —

    new state

Returns:

  • (Boolean) —

    returns engaged state of a servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 146

def engaged=(new_state)
  tmp = new_state ? 1 : 0
  Klass.setEngaged(@handle, @index, tmp)
  new_state
end

#index ⇒ Integer

Returns the index of the servo motor, or raises an error.

Returns:

  • (Integer) —

    returns the index of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 96

def index 
	@index
end

#inspect ⇒ Object

Displays data for the servo motor.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 91

def inspect
     "#<#{self.class} @index=#{index}, @acceleration=#{acceleration}, @acceleration_min=#{acceleration_min}, @acceleration_max=#{acceleration_max}, @current=#{current}, @engaged=#{engaged}, @position=#{position}, @position_max=#{position_max}, @position_min=#{position_min}, @speed_ramping=#{speed_ramping}, @stopped=#{stopped}, @type=#{type}, @velocity=#{velocity}, @velocity_limit=#{velocity_limit}, @velocity_min=#{velocity_min}, @velocity_max=#{velocity_max}>"
end

#position ⇒ Float

Returns the position of the servo motor, in degrees, or raises an error.

Returns:

  • (Float) —

    returns the position of the servo motor, in degrees, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 153

def position
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getPosition(@handle, @index, ptr)
  ptr.get_double(0)
end

#position=(new_position) ⇒ Float

Sets the position of the servo motor, in degrees, or raises an error.

Parameters:

  • new_position (Float) —

    new position

Returns:

  • (Float) —

    returns the position of the servo motor, in degrees, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 162

def position=(new_position)
  Klass.setPosition(@handle, @index, new_position.to_f)
  new_position
end

#position_max ⇒ Float

Returns the largest position value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the largest position value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 168

def position_max
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getPositionMax(@handle, @index, ptr)
  ptr.get_double(0)
end

#position_max=(new_position_max) ⇒ Float

Sets the largest position value that the servo motor will accept, or raises an error.

Parameters:

  • new_position_max (Float) —

    new maximum position

Returns:

  • (Float) —

    returns the largest position value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 177

def position_max=(new_position_max)
  Klass.setPositionMax(@handle, @index, new_position_max.to_f)
  new_position_max
end

#position_min ⇒ Float

Returns the smallest position value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the smallest position value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 183

def position_min
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getPositionMin(@handle, @index, ptr)
  ptr.get_double(0)
end

#position_min=(new_position_min) ⇒ Float

Sets the smallest position value that the servo motor will accept, or raises an error.

Parameters:

  • new_position_min (Float) —

    new minimum position

Returns:

  • (Float) —

    returns the smallest position value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 192

def position_min=(new_position_min)
  Klass.setPositionMin(@handle, @index, new_position_min.to_f)
  new_position_min
end

#set_servo_parameters(min_us, max_us, degrees, velocity_max) ⇒ Boolean

Sets custom servo parameters for using a servo not in the predefined list. Pulse widths are specified in microseconds, velocity in degrees/second.

Returns:

  • (Boolean) —

    returns the true if the servo parameters has successfully been set, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 274

def set_servo_parameters(min_us, max_us, degrees, velocity_max)
  Klass.setServoParameters(@handle, @index, min_us, max_us, degrees, velocity_max)
  true
end

#speed_ramping ⇒ Boolean

Returns the speed ramping state of the servo motor, or raises an error.

Returns:

  • (Boolean) —

    returns the speed ramping state of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 198

def speed_ramping
  ptr = ::FFI::MemoryPointer.new(:int)
  Klass.getSpeedRampingOn(@handle, @index, ptr)
  (ptr.get_int(0) == 0) ? false : true
end

#speed_ramping=(new_state) ⇒ Boolean

Sets the speed ramping state that the servo motor will accept, or raises an error.

Parameters:

  • new_state (Boolean) —

    new state

Returns:

  • (Boolean) —

    returns the speed ramping state that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 207

def speed_ramping=(new_state)
  tmp = new_state ? 1 : 0
  Klass.setSpeedRampingOn(@handle, @index, tmp)
  new_state
end

#stopped ⇒ Boolean

Returns the stopped state of the servo motor, or raises an error.

Returns:

  • (Boolean) —

    returns the stopped state of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 214

def stopped
  ptr = ::FFI::MemoryPointer.new(:int)
  Klass.getStopped(@handle, @index, ptr)
  (ptr.get_int(0) == 0) ? false : true
end

#type ⇒ Phidgets::FFI::AdvancedServoType

Returns the servo type of the servo motor, or raises an error.

Returns:



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 221

def type
  ptr = ::FFI::MemoryPointer.new(:int)
  Klass.getServoType(@handle, @index, ptr)
  Phidgets::FFI::ServoType[ptr.get_int(0)]
end

#type=(new_type = :default) ⇒ Phidgets::FFI::AdvancedServoType

Sets the servo type of the servo motor, or raises an error. This determines how degrees are calculated from PCM pulses, and sets min and max angles. The default type is :default.

Parameters:

Returns:



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 230

def type=(new_type=:default)
  ptr = ::FFI::MemoryPointer.new(:int)
  Klass.setServoType(@handle, @index, Phidgets::FFI::AdvancedServoType[new_type])
  new_type
end

#velocity ⇒ Float

Returns the current velocity of the servo motor, or raises an error.

Returns:

  • (Float) —

    returns the current velocity of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 237

def velocity
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getVelocity(@handle, @index, ptr)
  ptr.get_double(0)
end

#velocity_limit ⇒ Float

Returns the velocity limit of the servo motor, or raises an error.

Returns:

  • (Float) —

    returns the velocity limit of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 244

def velocity_limit
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getVelocityLimit(@handle, @index, ptr)
  ptr.get_double(0)
end

#velocity_limit=(new_velocity_limit) ⇒ Float

Sets the velocity limit of the servo motor, or raises an error.

Parameters:

  • new_velocity_limit (Float) —

    new velocity limit

Returns:

  • (Float) —

    returns the velocity limit of the servo motor, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 253

def velocity_limit=(new_velocity_limit)
  Klass.setVelocityLimit(@handle, @index, new_velocity_limit.to_f)
  new_velocity_limit
end

#velocity_max ⇒ Float

Returns the largest velocity value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the largest velocity value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 259

def velocity_max
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getVelocityMax(@handle, @index, ptr)
  ptr.get_double(0)
end

#velocity_min ⇒ Float

Returns the smallest velocity value that the servo motor will accept, or raises an error.

Returns:

  • (Float) —

    returns the smallest velocity value that the servo motor will accept, or raises an error.



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# File 'lib/phidgets-ffi/advanced_servo.rb', line 266

def velocity_min
  ptr = ::FFI::MemoryPointer.new(:double)
  Klass.getVelocityMin(@handle, @index, ptr)
  ptr.get_double(0)
end