servo_v2_bricklet

package
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 Go to latest Published: Feb 27, 2024 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Drives up to 10 RC Servos.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/ServoV2_Bricklet_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "Servo Bricklet 2.0"
View Source 
const DeviceIdentifier = 2157

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode 

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus 

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type Function 

type Function = uint8
const (
	FunctionGetStatus                               Function = 1
	FunctionSetEnable                               Function = 2
	FunctionGetEnabled                              Function = 3
	FunctionSetPosition                             Function = 4
	FunctionGetPosition                             Function = 5
	FunctionGetCurrentPosition                      Function = 6
	FunctionGetCurrentVelocity                      Function = 7
	FunctionSetMotionConfiguration                  Function = 8
	FunctionGetMotionConfiguration                  Function = 9
	FunctionSetPulseWidth                           Function = 10
	FunctionGetPulseWidth                           Function = 11
	FunctionSetDegree                               Function = 12
	FunctionGetDegree                               Function = 13
	FunctionSetPeriod                               Function = 14
	FunctionGetPeriod                               Function = 15
	FunctionGetServoCurrent                         Function = 16
	FunctionSetServoCurrentConfiguration            Function = 17
	FunctionGetServoCurrentConfiguration            Function = 18
	FunctionSetInputVoltageConfiguration            Function = 19
	FunctionGetInputVoltageConfiguration            Function = 20
	FunctionGetOverallCurrent                       Function = 21
	FunctionGetInputVoltage                         Function = 22
	FunctionSetCurrentCalibration                   Function = 23
	FunctionGetCurrentCalibration                   Function = 24
	FunctionSetPositionReachedCallbackConfiguration Function = 25
	FunctionGetPositionReachedCallbackConfiguration Function = 26
	FunctionGetSPITFPErrorCount                     Function = 234
	FunctionSetBootloaderMode                       Function = 235
	FunctionGetBootloaderMode                       Function = 236
	FunctionSetWriteFirmwarePointer                 Function = 237
	FunctionWriteFirmware                           Function = 238
	FunctionSetStatusLEDConfig                      Function = 239
	FunctionGetStatusLEDConfig                      Function = 240
	FunctionGetChipTemperature                      Function = 242
	FunctionReset                                   Function = 243
	FunctionWriteUID                                Function = 248
	FunctionReadUID                                 Function = 249
	FunctionGetIdentity                             Function = 255
	FunctionCallbackPositionReached                 Function = 27
)

type ServoV2Bricklet 

type ServoV2Bricklet struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (ServoV2Bricklet, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*ServoV2Bricklet) DeregisterPositionReachedCallback 

func (device *ServoV2Bricklet) DeregisterPositionReachedCallback(registrationId uint64)

Remove a registered Position Reached callback.

func (*ServoV2Bricklet) GetAPIVersion 

func (device *ServoV2Bricklet) GetAPIVersion() [3]uint8

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*ServoV2Bricklet) GetBootloaderMode 

func (device *ServoV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*ServoV2Bricklet) GetChipTemperature 

func (device *ServoV2Bricklet) GetChipTemperature() (temperature int16, err error)

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 bad accuracy. Practically it is only useful as an indicator for temperature changes.

func (*ServoV2Bricklet) GetCurrentCalibration 

func (device *ServoV2Bricklet) GetCurrentCalibration() (offset [10]int16, err error)

Returns the current calibration as set by SetCurrentCalibration.

func (*ServoV2Bricklet) GetCurrentPosition 

func (device *ServoV2Bricklet) GetCurrentPosition(servoChannel uint16) (position int16, err error)

Returns the *current* position of the specified servo channel. This may not be the value of SetPosition if the servo is currently approaching a position goal.

func (*ServoV2Bricklet) GetCurrentVelocity 

func (device *ServoV2Bricklet) GetCurrentVelocity(servoChannel uint16) (velocity uint16, err error)

Returns the *current* velocity of the specified servo channel. This may not be the velocity specified by SetMotionConfiguration. if the servo is currently approaching a velocity goal.

func (*ServoV2Bricklet) GetDegree 

func (device *ServoV2Bricklet) GetDegree(servoChannel uint16) (min int16, max int16, err error)

Returns the minimum and maximum degree for the specified servo channel as set by SetDegree.

func (*ServoV2Bricklet) GetEnabled 

func (device *ServoV2Bricklet) GetEnabled(servoChannel uint16) (enable bool, err error)

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

func (*ServoV2Bricklet) GetIdentity 

func (device *ServoV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*ServoV2Bricklet) GetInputVoltage 

func (device *ServoV2Bricklet) GetInputVoltage() (voltage uint16, err error)

Returns the input voltage in mV. The input voltage is given via the black power input connector on the Servo Brick.

func (*ServoV2Bricklet) GetInputVoltageConfiguration 

func (device *ServoV2Bricklet) GetInputVoltageConfiguration() (averagingDuration uint8, err error)

Returns the input voltage configuration as set by SetInputVoltageConfiguration.

func (*ServoV2Bricklet) GetMotionConfiguration 

func (device *ServoV2Bricklet) GetMotionConfiguration(servoChannel uint16) (velocity uint32, acceleration uint32, deceleration uint32, err error)

Returns the motion configuration as set by SetMotionConfiguration.

func (*ServoV2Bricklet) GetOverallCurrent 

func (device *ServoV2Bricklet) GetOverallCurrent() (current uint16, err error)

Returns the current consumption of all servos together in mA.

func (*ServoV2Bricklet) GetPeriod 

func (device *ServoV2Bricklet) GetPeriod(servoChannel uint16) (period uint32, err error)

Returns the period for the specified servo channel as set by SetPeriod.

func (*ServoV2Bricklet) GetPosition 

func (device *ServoV2Bricklet) GetPosition(servoChannel uint16) (position int16, err error)

Returns the position of the specified servo channel as set by SetPosition.

func (*ServoV2Bricklet) GetPositionReachedCallbackConfiguration 

func (device *ServoV2Bricklet) GetPositionReachedCallbackConfiguration(servoChannel uint16) (enabled bool, err error)

Returns the callback configuration as set by SetPositionReachedCallbackConfiguration.

func (*ServoV2Bricklet) GetPulseWidth 

func (device *ServoV2Bricklet) GetPulseWidth(servoChannel uint16) (min uint32, max uint32, err error)

Returns the minimum and maximum pulse width for the specified servo channel as set by SetPulseWidth.

func (*ServoV2Bricklet) GetResponseExpected 

func (device *ServoV2Bricklet) GetResponseExpected(functionID Function) (bool, error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*ServoV2Bricklet) GetSPITFPErrorCount 

func (device *ServoV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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 Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

func (*ServoV2Bricklet) GetServoCurrent 

func (device *ServoV2Bricklet) GetServoCurrent(servoChannel uint16) (current uint16, err error)

Returns the current consumption of the specified servo channel in mA.

func (*ServoV2Bricklet) GetServoCurrentConfiguration 

func (device *ServoV2Bricklet) GetServoCurrentConfiguration(servoChannel uint16) (averagingDuration uint8, err error)

Returns the servo current configuration for the specified servo channel as set by SetServoCurrentConfiguration.

func (*ServoV2Bricklet) GetStatus 

func (device *ServoV2Bricklet) GetStatus() (enabled [10]bool, currentPosition [10]int16, currentVelocity [10]int16, current [10]uint16, inputVoltage uint16, err error)

Returns the status information of the Servo Bricklet 2.0.

The status includes

* for each channel if it is enabled or disabled, * for each channel the current position, * for each channel the current velocity, * for each channel the current usage and * the input voltage.

Please note that the position and the velocity is a snapshot of the current position and velocity of the servo in motion.

func (*ServoV2Bricklet) GetStatusLEDConfig 

func (device *ServoV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*ServoV2Bricklet) ReadUID 

func (device *ServoV2Bricklet) ReadUID() (uid uint32, err error)

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*ServoV2Bricklet) RegisterPositionReachedCallback 

func (device *ServoV2Bricklet) RegisterPositionReachedCallback(fn func(uint16, int16)) uint64

This callback is triggered when a position set by SetPosition 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 SetPositionReachedCallbackConfiguration.

Note 

Since we can't get any feedback from the servo, this only works if the
velocity (see SetMotionConfiguration) 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.

func (*ServoV2Bricklet) Reset 

func (device *ServoV2Bricklet) Reset() (err error)

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

func (*ServoV2Bricklet) SetBootloaderMode 

func (device *ServoV2Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*ServoV2Bricklet) SetCurrentCalibration 

func (device *ServoV2Bricklet) SetCurrentCalibration(offset [10]int16) (err error)

Sets an offset value (in mA) for each channel.

Note: On delivery the Servo Bricklet 2.0 is already calibrated.

func (*ServoV2Bricklet) SetDegree 

func (device *ServoV2Bricklet) SetDegree(servoChannel uint16, min int16, max int16) (err error)

Sets the minimum and maximum degree for the specified servo channel (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 SetPosition 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 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 now controls the rpm.

Both values have a possible range from -32767 to 32767 (signed 16-bit integer). The minimum must be smaller than the maximum.

The default values are -9000 and 9000 for the minimum and maximum degree.

func (*ServoV2Bricklet) SetEnable 

func (device *ServoV2Bricklet) SetEnable(servoChannel uint16, enable bool) (err error)

Enables a servo channel (0 to 9). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

func (*ServoV2Bricklet) SetInputVoltageConfiguration 

func (device *ServoV2Bricklet) SetInputVoltageConfiguration(averagingDuration uint8) (err error)

Sets the averaging duration of the input voltage measurement for the specified servo channel in ms.

func (*ServoV2Bricklet) SetMotionConfiguration 

func (device *ServoV2Bricklet) SetMotionConfiguration(servoChannel uint16, velocity uint32, acceleration uint32, deceleration uint32) (err error)

Sets the maximum velocity of the specified servo channel in °/100s as well as the acceleration and deceleration in °/100s²

With a velocity of 0 °/100s the position will be set immediately (no velocity).

With an acc-/deceleration of 0 °/100s² the velocity will be set immediately (no acc-/deceleration).

func (*ServoV2Bricklet) SetPeriod 

func (device *ServoV2Bricklet) SetPeriod(servoChannel uint16, period uint32) (err error)

Sets the period of the specified servo channel in µs.

Usually, servos are controlled with a https://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 (19.5ms) will most likely work fine.

The minimum possible period is 1µs and the maximum is 1000000µs.

The default value is 19.5ms (19500µs).

func (*ServoV2Bricklet) SetPosition 

func (device *ServoV2Bricklet) SetPosition(servoChannel uint16, position int16) (err error)

Sets the position in °/100 for the specified servo channel.

The default range of the position is -9000 to 9000, but it can be specified according to your servo with SetDegree.

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.

func (*ServoV2Bricklet) SetPositionReachedCallbackConfiguration 

func (device *ServoV2Bricklet) SetPositionReachedCallbackConfiguration(servoChannel uint16, enabled bool) (err error)

Enable/Disable RegisterPositionReachedCallback callback.

func (*ServoV2Bricklet) SetPulseWidth 

func (device *ServoV2Bricklet) SetPulseWidth(servoChannel uint16, min uint32, max uint32) (err error)

Sets the minimum and maximum pulse width of the specified servo channel in µs.

Usually, servos are controlled with a https://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.

Both values have a range from 1 to 65535 (unsigned 16-bit integer). The minimum must be smaller than the maximum.

The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and maximum pulse width.

func (*ServoV2Bricklet) SetResponseExpected 

func (device *ServoV2Bricklet) SetResponseExpected(functionID Function, responseExpected bool) error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

func (*ServoV2Bricklet) SetResponseExpectedAll 

func (device *ServoV2Bricklet) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*ServoV2Bricklet) SetServoCurrentConfiguration 

func (device *ServoV2Bricklet) SetServoCurrentConfiguration(servoChannel uint16, averagingDuration uint8) (err error)

Sets the averaging duration of the current measurement for the specified servo channel in ms.

func (*ServoV2Bricklet) SetStatusLEDConfig 

func (device *ServoV2Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*ServoV2Bricklet) SetWriteFirmwarePointer 

func (device *ServoV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*ServoV2Bricklet) WriteFirmware 

func (device *ServoV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*ServoV2Bricklet) WriteUID 

func (device *ServoV2Bricklet) WriteUID(uid uint32) (err error)

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

type StatusLEDConfig 

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

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