Class: Tinkerforge::BrickServo

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/brick_servo.rb

Overview

Drives up to 7 RC Servos with up to 3A

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'Servo Brick'
CALLBACK_UNDER_VOLTAGE =

This callback is triggered when the input voltage drops below the value set by BrickServo#set_minimum_voltage. The parameter is the current voltage.

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CALLBACK_POSITION_REACHED =

This callback is triggered when a position set by BrickServo#set_position is reached. If the new position matches the current position then the callback is not triggered, because the servo didn’t move. The parameters are the servo and the position that is reached.

You can enable this callback with BrickServo#enable_position_reached_callback.

.. note

Since we can’t get any feedback from the servo, this only works if the velocity (see BrickServo#set_velocity) is set smaller or equal to the maximum velocity of the servo. Otherwise the servo will lag behind the control value and the callback will be triggered too early.

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CALLBACK_VELOCITY_REACHED =

This callback is triggered when a velocity set by BrickServo#set_velocity is reached. The parameters are the servo and the velocity that is reached.

You can enable this callback with BrickServo#enable_velocity_reached_callback.

.. note

Since we can’t get any feedback from the servo, this only works if the acceleration (see BrickServo#set_acceleration) is set smaller or equal to the maximum acceleration of the servo. Otherwise the servo will lag behind the control value and the callback will be triggered too early.

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FUNCTION_ENABLE =

:nodoc:

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FUNCTION_DISABLE =

:nodoc:

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FUNCTION_IS_ENABLED =

:nodoc:

3
FUNCTION_SET_POSITION =

:nodoc:

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FUNCTION_GET_POSITION =

:nodoc:

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FUNCTION_GET_CURRENT_POSITION =

:nodoc:

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FUNCTION_SET_VELOCITY =

:nodoc:

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FUNCTION_GET_VELOCITY =

:nodoc:

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FUNCTION_GET_CURRENT_VELOCITY =

:nodoc:

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FUNCTION_SET_ACCELERATION =

:nodoc:

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FUNCTION_GET_ACCELERATION =

:nodoc:

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FUNCTION_SET_OUTPUT_VOLTAGE =

:nodoc:

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FUNCTION_GET_OUTPUT_VOLTAGE =

:nodoc:

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FUNCTION_SET_PULSE_WIDTH =

:nodoc:

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FUNCTION_GET_PULSE_WIDTH =

:nodoc:

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FUNCTION_SET_DEGREE =

:nodoc:

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FUNCTION_GET_DEGREE =

:nodoc:

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FUNCTION_SET_PERIOD =

:nodoc:

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FUNCTION_GET_PERIOD =

:nodoc:

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FUNCTION_GET_SERVO_CURRENT =

:nodoc:

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FUNCTION_GET_OVERALL_CURRENT =

:nodoc:

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FUNCTION_GET_STACK_INPUT_VOLTAGE =

:nodoc:

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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE =

:nodoc:

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FUNCTION_SET_MINIMUM_VOLTAGE =

:nodoc:

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FUNCTION_GET_MINIMUM_VOLTAGE =

:nodoc:

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FUNCTION_ENABLE_POSITION_REACHED_CALLBACK =

:nodoc:

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FUNCTION_DISABLE_POSITION_REACHED_CALLBACK =

:nodoc:

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FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED =

:nodoc:

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FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK =

:nodoc:

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FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK =

:nodoc:

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FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SEND_TIMEOUT_COUNT =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_ENABLE_STATUS_LED =

:nodoc:

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FUNCTION_DISABLE_STATUS_LED =

:nodoc:

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FUNCTION_IS_STATUS_LED_ENABLED =

:nodoc:

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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_READ_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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COMMUNICATION_METHOD_NONE =

:nodoc:

0
COMMUNICATION_METHOD_USB =

:nodoc:

1
COMMUNICATION_METHOD_SPI_STACK =

:nodoc:

2
COMMUNICATION_METHOD_CHIBI =

:nodoc:

3
COMMUNICATION_METHOD_RS485 =

:nodoc:

4
COMMUNICATION_METHOD_WIFI =

:nodoc:

5
COMMUNICATION_METHOD_ETHERNET =

:nodoc:

6
COMMUNICATION_METHOD_WIFI_V2 =

:nodoc:

7

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

#check_validity, #dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickServo

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



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# File 'lib/tinkerforge/brick_servo.rb', line 108

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 4]

  @response_expected[FUNCTION_ENABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_DISABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_IS_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_POSITION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CURRENT_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_VELOCITY] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ACCELERATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_OUTPUT_VOLTAGE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_OUTPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_PULSE_WIDTH] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_PULSE_WIDTH] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DEGREE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_DEGREE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_PERIOD] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SERVO_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_OVERALL_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_STACK_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_ENABLE_POSITION_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_DISABLE_POSITION_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_UNDER_VOLTAGE] = [10, 'S']
  @callback_formats[CALLBACK_POSITION_REACHED] = [11, 'C s']
  @callback_formats[CALLBACK_VELOCITY_REACHED] = [11, 'C s']

  @ipcon.add_device self
end

Instance Method Details

#disable(servo_num) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 177

def disable(servo_num)
  check_validity

  send_request FUNCTION_DISABLE, [servo_num], 'C', 8, ''
end

#disable_position_reached_callback ⇒ Object

Disables the CALLBACK_POSITION_REACHED callback.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 449

def disable_position_reached_callback
  check_validity

  send_request FUNCTION_DISABLE_POSITION_REACHED_CALLBACK, [], '', 8, ''
end

#disable_status_led ⇒ Object

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)



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# File 'lib/tinkerforge/brick_servo.rb', line 615

def disable_status_led
  check_validity

  send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
end

#disable_velocity_reached_callback ⇒ Object

Disables the CALLBACK_VELOCITY_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 480

def disable_velocity_reached_callback
  check_validity

  send_request FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK, [], '', 8, ''
end

#enable(servo_num) ⇒ Object

Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.



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# File 'lib/tinkerforge/brick_servo.rb', line 169

def enable(servo_num)
  check_validity

  send_request FUNCTION_ENABLE, [servo_num], 'C', 8, ''
end

#enable_position_reached_callback ⇒ Object

Enables the CALLBACK_POSITION_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 440

def enable_position_reached_callback
  check_validity

  send_request FUNCTION_ENABLE_POSITION_REACHED_CALLBACK, [], '', 8, ''
end

#enable_status_led ⇒ Object

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)



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# File 'lib/tinkerforge/brick_servo.rb', line 601

def enable_status_led
  check_validity

  send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
end

#enable_velocity_reached_callback ⇒ Object

Enables the CALLBACK_VELOCITY_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 469

def enable_velocity_reached_callback
  check_validity

  send_request FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK, [], '', 8, ''
end

#get_acceleration(servo_num) ⇒ Object

Returns the acceleration for the specified servo as set by BrickServo#set_acceleration.



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# File 'lib/tinkerforge/brick_servo.rb', line 259

def get_acceleration(servo_num)
  check_validity

  send_request FUNCTION_GET_ACCELERATION, [servo_num], 'C', 10, 'S'
end

#get_chip_temperature ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 647

def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end

#get_current_position(servo_num) ⇒ Object

Returns the current position of the specified servo. This may not be the value of BrickServo#set_position if the servo is currently approaching a position goal.



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# File 'lib/tinkerforge/brick_servo.rb', line 214

def get_current_position(servo_num)
  check_validity

  send_request FUNCTION_GET_CURRENT_POSITION, [servo_num], 'C', 10, 's'
end

#get_current_velocity(servo_num) ⇒ Object

Returns the current velocity of the specified servo. This may not be the value of BrickServo#set_velocity if the servo is currently approaching a velocity goal.



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# File 'lib/tinkerforge/brick_servo.rb', line 241

def get_current_velocity(servo_num)
  check_validity

  send_request FUNCTION_GET_CURRENT_VELOCITY, [servo_num], 'C', 10, 'S'
end

#get_degree(servo_num) ⇒ Object

Returns the minimum and maximum degree for the specified servo as set by BrickServo#set_degree.



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# File 'lib/tinkerforge/brick_servo.rb', line 346

def get_degree(servo_num)
  check_validity

  send_request FUNCTION_GET_DEGREE, [servo_num], 'C', 12, 's s'
end

#get_external_input_voltage ⇒ Object

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



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# File 'lib/tinkerforge/brick_servo.rb', line 411

def get_external_input_voltage
  check_validity

  send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 10, 'S'
end

#get_identity ⇒ Object

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|



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# File 'lib/tinkerforge/brick_servo.rb', line 695

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_minimum_voltage ⇒ Object

Returns the minimum voltage as set by BrickServo#set_minimum_voltage



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# File 'lib/tinkerforge/brick_servo.rb', line 429

def get_minimum_voltage
  check_validity

  send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 10, 'S'
end

#get_output_voltage ⇒ Object

Returns the output voltage as specified by BrickServo#set_output_voltage.



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# File 'lib/tinkerforge/brick_servo.rb', line 278

def get_output_voltage
  check_validity

  send_request FUNCTION_GET_OUTPUT_VOLTAGE, [], '', 10, 'S'
end

#get_overall_current ⇒ Object

Returns the current consumption of all servos together.



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# File 'lib/tinkerforge/brick_servo.rb', line 384

def get_overall_current
  check_validity

  send_request FUNCTION_GET_OVERALL_CURRENT, [], '', 10, 'S'
end

#get_period(servo_num) ⇒ Object

Returns the period for the specified servo as set by BrickServo#set_period.



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# File 'lib/tinkerforge/brick_servo.rb', line 370

def get_period(servo_num)
  check_validity

  send_request FUNCTION_GET_PERIOD, [servo_num], 'C', 10, 'S'
end

#get_position(servo_num) ⇒ Object

Returns the position of the specified servo as set by BrickServo#set_position.



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# File 'lib/tinkerforge/brick_servo.rb', line 205

def get_position(servo_num)
  check_validity

  send_request FUNCTION_GET_POSITION, [servo_num], 'C', 10, 's'
end

#get_protocol1_bricklet_name(port) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 635

def get_protocol1_bricklet_name(port)
  check_validity

  send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40'
end

#get_pulse_width(servo_num) ⇒ Object

Returns the minimum and maximum pulse width for the specified servo as set by BrickServo#set_pulse_width.



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# File 'lib/tinkerforge/brick_servo.rb', line 305

def get_pulse_width(servo_num)
  check_validity

  send_request FUNCTION_GET_PULSE_WIDTH, [servo_num], 'C', 12, 'S S'
end

#get_send_timeout_count(communication_method) ⇒ Object

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)



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# File 'lib/tinkerforge/brick_servo.rb', line 538

def get_send_timeout_count(communication_method)
  check_validity

  send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L'
end

#get_servo_current(servo_num) ⇒ Object

Returns the current consumption of the specified servo.



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# File 'lib/tinkerforge/brick_servo.rb', line 377

def get_servo_current(servo_num)
  check_validity

  send_request FUNCTION_GET_SERVO_CURRENT, [servo_num], 'C', 10, 'S'
end

#get_spitfp_baudrate(bricklet_port) ⇒ Object

Returns the baudrate for a given Bricklet port, see BrickServo#set_spitfp_baudrate.

.. versionadded

2.3.2$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 568

def get_spitfp_baudrate(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
end

#get_spitfp_baudrate_config ⇒ Object

Returns the baudrate config, see BrickServo#set_spitfp_baudrate_config.

.. versionadded

2.3.4$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 524

def get_spitfp_baudrate_config
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
end

#get_spitfp_error_count(bricklet_port) ⇒ Object

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)



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# File 'lib/tinkerforge/brick_servo.rb', line 587

def get_spitfp_error_count(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 24, 'L L L L'
end

#get_stack_input_voltage ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 393

def get_stack_input_voltage
  check_validity

  send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 10, 'S'
end

#get_velocity(servo_num) ⇒ Object

Returns the velocity of the specified servo as set by BrickServo#set_velocity.



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# File 'lib/tinkerforge/brick_servo.rb', line 232

def get_velocity(servo_num)
  check_validity

  send_request FUNCTION_GET_VELOCITY, [servo_num], 'C', 10, 'S'
end

#is_enabled(servo_num) ⇒ Object

Returns true if the specified servo is enabled, false otherwise.



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# File 'lib/tinkerforge/brick_servo.rb', line 184

def is_enabled(servo_num)
  check_validity

  send_request FUNCTION_IS_ENABLED, [servo_num], 'C', 9, '?'
end

#is_position_reached_callback_enabled ⇒ Object

Returns true if CALLBACK_POSITION_REACHED callback is enabled, false otherwise.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 458

def is_position_reached_callback_enabled
  check_validity

  send_request FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED, [], '', 9, '?'
end

#is_status_led_enabled ⇒ Object

Returns true if the status LED is enabled, false otherwise.

.. versionadded

2.3.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 624

def is_status_led_enabled
  check_validity

  send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
end

#is_velocity_reached_callback_enabled ⇒ Object

Returns true if CALLBACK_VELOCITY_REACHED callback is enabled, false otherwise.

.. versionadded

2.0.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 489

def is_velocity_reached_callback_enabled
  check_validity

  send_request FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED, [], '', 9, '?'
end

#read_bricklet_plugin(port, offset) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 681

def read_bricklet_plugin(port, offset)
  check_validity

  send_request FUNCTION_READ_BRICKLET_PLUGIN, [port, offset], 'k C', 40, 'C32'
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/brick_servo.rb', line 700

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#reset ⇒ Object

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!



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# File 'lib/tinkerforge/brick_servo.rb', line 659

def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end

#set_acceleration(servo_num, acceleration) ⇒ Object

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).



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# File 'lib/tinkerforge/brick_servo.rb', line 251

def set_acceleration(servo_num, acceleration)
  check_validity

  send_request FUNCTION_SET_ACCELERATION, [servo_num, acceleration], 'C S', 8, ''
end

#set_degree(servo_num, min, max) ⇒ Object

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 of BrickServo#set_position 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 BrickServo#set_position 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. BrickServo#set_position now controls the rpm.

The minimum must be smaller than the maximum.



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# File 'lib/tinkerforge/brick_servo.rb', line 338

def set_degree(servo_num, min, max)
  check_validity

  send_request FUNCTION_SET_DEGREE, [servo_num, min, max], 'C s s', 8, ''
end

#set_minimum_voltage(voltage) ⇒ Object

Sets the minimum voltage, below which the CALLBACK_UNDER_VOLTAGE callback 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.



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# File 'lib/tinkerforge/brick_servo.rb', line 422

def set_minimum_voltage(voltage)
  check_validity

  send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 8, ''
end

#set_output_voltage(voltage) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 271

def set_output_voltage(voltage)
  check_validity

  send_request FUNCTION_SET_OUTPUT_VOLTAGE, [voltage], 'S', 8, ''
end

#set_period(servo_num, period) ⇒ Object

Sets the period of the specified servo.

Usually, servos are controlled with a ‘PWM <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.



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# File 'lib/tinkerforge/brick_servo.rb', line 363

def set_period(servo_num, period)
  check_validity

  send_request FUNCTION_SET_PERIOD, [servo_num, period], 'C S', 8, ''
end

#set_position(servo_num, position) ⇒ Object

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 with BrickServo#set_degree.

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 BrickServo#set_degree.



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# File 'lib/tinkerforge/brick_servo.rb', line 198

def set_position(servo_num, position)
  check_validity

  send_request FUNCTION_SET_POSITION, [servo_num, position], 'C s', 8, ''
end

#set_pulse_width(servo_num, min, max) ⇒ Object

Sets the minimum and maximum pulse width of the specified servo.

Usually, servos are controlled with a ‘PWM <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.



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# File 'lib/tinkerforge/brick_servo.rb', line 297

def set_pulse_width(servo_num, min, max)
  check_validity

  send_request FUNCTION_SET_PULSE_WIDTH, [servo_num, min, max], 'C S S', 8, ''
end

#set_spitfp_baudrate(bricklet_port, baudrate) ⇒ Object

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 (see BrickServo#get_spitfp_error_count) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see BrickServo#set_spitfp_baudrate_config).

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)



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# File 'lib/tinkerforge/brick_servo.rb', line 559

def set_spitfp_baudrate(bricklet_port, baudrate)
  check_validity

  send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, ''
end

#set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) ⇒ Object

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 function BrickServo#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by BrickServo#set_spitfp_baudrate will be used statically.

.. versionadded

2.3.4$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_servo.rb', line 515

def set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate)
  check_validity

  send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 8, ''
end

#set_velocity(servo_num, velocity) ⇒ Object

Sets the maximum velocity of the specified servo. The velocity is accelerated according to the value set by BrickServo#set_acceleration.

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).



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# File 'lib/tinkerforge/brick_servo.rb', line 225

def set_velocity(servo_num, velocity)
  check_validity

  send_request FUNCTION_SET_VELOCITY, [servo_num, velocity], 'C S', 8, ''
end

#write_bricklet_plugin(port, offset, chunk) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_servo.rb', line 670

def write_bricklet_plugin(port, offset, chunk)
  check_validity

  send_request FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'k C C32', 8, ''
end