Class: Phidgets::Servo::ServoServos

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

Overview

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

Constant Summary collapse

Klass = 
Phidgets::FFI::CPhidgetServo

Instance Method Summary collapse

Instance Method Details

#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/servo.rb', line 61

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/servo.rb', line 70

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/servo.rb', line 56

def index 
	@index
end

#inspect ⇒ Object

Displays data for the servo motor.



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

def inspect
     "#<#{self.class} @index=#{index}, @engaged=#{engaged}, @position_min=#{position_min}, @position_max=#{position_max}, @type=#{type}>"
end

#position ⇒ Float

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

Returns:

  • (Float) —

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



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

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, or raises an error.

Parameters:

  • new_position (Float) —

    new position

Returns:

  • (Float) —

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



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# File 'lib/phidgets-ffi/servo.rb', line 100

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/servo.rb', line 84

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

#position_min ⇒ 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/servo.rb', line 77

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

#set_servo_parameters(min_pcm, max_pcm, degrees) ⇒ Boolean

Sets custom servo parameters for using a servo not in the predefined list. Pulse widths are specified in microseconds.

Parameters:

  • new_minimum_pulse_width (Float) —

    new minimum pulse width

  • new_maximum_pulse_width (Float) —

    new maximum pulse width

  • new_degrees (Float) —

    new degrees

Returns:

  • (Boolean) —

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



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# File 'lib/phidgets-ffi/servo.rb', line 126

def set_servo_parameters(min_pcm, max_pcm, degrees)
  Klass.setServoParameters(@handle, @index, min_pcm.to_f, max_pcm.to_f, degrees.to_f)
  true
end

#type ⇒ Phidgets::FFI::ServoType

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

Returns:



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# File 'lib/phidgets-ffi/servo.rb', line 106

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

#type=(servo_type = :default) ⇒ Phidgets::FFI:ServoType

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.

Parameters:

Returns:

  • (Phidgets::FFI:ServoType) —

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



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# File 'lib/phidgets-ffi/servo.rb', line 115

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