servo

package
v0.0.0-...-be9965c Latest Latest
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 Go to latest Published: Dec 16, 2016 License: MIT Imports: 5 Imported by: 8

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Constants

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Variables

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Functions

This section is empty.

Types

type Servo 

type Servo struct {
	Protocol iface.Protocol
	ID       int
	// contains filtered or unexported fields
}

func New 

func New(proto iface.Protocol, registers reg.Map, ID int) *Servo

New returns a new Servo.

func NewWithReturnLevel 

func NewWithReturnLevel(proto iface.Protocol, registers reg.Map, ID int, returnLevel int) *Servo

NewWithReturnLevel returns a servo with its Return Level preconfigured. It's better to use New and SetReturnLevel to be sure, but this can be useful when we're absolutely sure what the return level currently is.

func (*Servo) AlarmLED 

func (s *Servo) AlarmLED() (int, error)

func (*Servo) AlarmShutdown 

func (s *Servo) AlarmShutdown() (int, error)

func (*Servo) Angle 

func (s *Servo) Angle() (float64, error)

Returns the current position of the servo, relative to the zero angle.

func (*Servo) BaudRate 

func (s *Servo) BaudRate() (int, error)

func (*Servo) CCWAngleLimit 

func (s *Servo) CCWAngleLimit() (int, error)

func (*Servo) CCWComplianceMargin 

func (s *Servo) CCWComplianceMargin() (int, error)

func (*Servo) CCWComplianceSlope 

func (s *Servo) CCWComplianceSlope() (int, error)

func (*Servo) CWAngleLimit 

func (s *Servo) CWAngleLimit() (int, error)

func (*Servo) CWComplianceMargin 

func (s *Servo) CWComplianceMargin() (int, error)

func (*Servo) CWComplianceSlope 

func (s *Servo) CWComplianceSlope() (int, error)

func (*Servo) FetchReturnLevel 

func (s *Servo) FetchReturnLevel() error

func (*Servo) FirmwareVersion 

func (s *Servo) FirmwareVersion() (int, error)

func (*Servo) GoalPosition 

func (s *Servo) GoalPosition() (int, error)

func (*Servo) HighestLimitTemperature 

func (s *Servo) HighestLimitTemperature() (int, error)

func (*Servo) HighestLimitVoltage 

func (s *Servo) HighestLimitVoltage() (int, error)

func (*Servo) LED 

func (s *Servo) LED() (bool, error)

LED returns the current state of the servo's LED. TODO: Should we continue to return bool here, or expose the int?

func (*Servo) LimitTemperature 

func (s *Servo) LimitTemperature() (int, error)

LimitTemperature is an alias for HighestLimitTemperature, since the XL-320 calls it that.

func (*Servo) Lock 

func (s *Servo) Lock() (int, error)

TODO: Rename this to avoid confusion?

func (*Servo) LowestLimitVoltage 

func (s *Servo) LowestLimitVoltage() (int, error)

func (*Servo) MaxTorque 

func (s *Servo) MaxTorque() (int, error)

func (*Servo) ModelNumber 

func (s *Servo) ModelNumber() (int, error)

func (*Servo) MoveTo 

func (s *Servo) MoveTo(angle float64) error

MoveTo sets the goal position of the servo by angle (in degrees), where zero is the midpoint, 150 deg is max left (clockwise), and -150 deg is max right (counter-clockwise). This is generally preferable to calling SetGoalPosition, which uses the internal uint16 representation.

func (*Servo) Moving 

func (s *Servo) Moving() (int, error)

func (*Servo) MovingSpeed 

func (s *Servo) MovingSpeed() (int, error)

MovingSpeed returns the current moving speed. This is not the speed at which the motor is moving, it's the speed at which the servo wants to move.

func (*Servo) Ping 

func (s *Servo) Ping() error

Ping sends the PING instruction to servo, and waits for the response. Returns nil if the ping succeeds, otherwise an error. It's optional, but a very good idea, to call this before sending any other instructions to the servo.

func (*Servo) Position 

func (s *Servo) Position() (int, error)

Position is a legacy alias for PresentPosition.

func (*Servo) PresentLoad 

func (s *Servo) PresentLoad() (int, error)

func (*Servo) PresentPosition 

func (s *Servo) PresentPosition() (int, error)

func (*Servo) PresentSpeed 

func (s *Servo) PresentSpeed() (int, error)

func (*Servo) PresentTemperature 

func (s *Servo) PresentTemperature() (int, error)

func (*Servo) PresentVoltage 

func (s *Servo) PresentVoltage() (int, error)

func (*Servo) Registered 

func (s *Servo) Registered() (int, error)

Registered is a legacy alias for RegisteredInstruction. The XL docs use the longer name, which seems clearer to me.

func (*Servo) RegisteredInstruction 

func (s *Servo) RegisteredInstruction() (int, error)

func (*Servo) ReturnDelayTime 

func (s *Servo) ReturnDelayTime() (int, error)

func (*Servo) ReturnLevel 

func (s *Servo) ReturnLevel() (int, error)

ReturnLevel returns the current return level of the servo, or an error if we don't know. This method will never actually read from the control table, because it's expected to be called by getters are setters.

func (*Servo) ServoID 

func (s *Servo) ServoID() (int, error)

func (*Servo) SetAlarmLED 

func (s *Servo) SetAlarmLED(v int) error

func (*Servo) SetAlarmShutdown 

func (s *Servo) SetAlarmShutdown(v int) error

func (*Servo) SetBaudRate 

func (s *Servo) SetBaudRate(v int) error

func (*Servo) SetBuffered 

func (s *Servo) SetBuffered(buf bool)

Enable instruction buffering, which causes register accessors to send the REG_WRITE instruction instead of WRITE_DATA. This causes writes to be buffered until the ACTION instruction is received (via Protocol.Action).

func (*Servo) SetCCWAngleLimit 

func (s *Servo) SetCCWAngleLimit(v int) error

func (*Servo) SetCCWComplianceMarginval 

func (s *Servo) SetCCWComplianceMarginval(v int) error

func (*Servo) SetCCWComplianceSlope 

func (s *Servo) SetCCWComplianceSlope(v int) error

func (*Servo) SetCWAngleLimit 

func (s *Servo) SetCWAngleLimit(v int) error

func (*Servo) SetCWComplianceMargin 

func (s *Servo) SetCWComplianceMargin(v int) error

func (*Servo) SetCWComplianceSlope 

func (s *Servo) SetCWComplianceSlope(v int) error

func (*Servo) SetGoalPosition 

func (s *Servo) SetGoalPosition(pos int) error

SetGoalPosition sets the goal position.

TODO: Reject if the servo is in wheel mode (where CW and CCW angle limit 

is zero).

func (*Servo) SetHighestLimitTemperature 

func (s *Servo) SetHighestLimitTemperature(v int) error

func (*Servo) SetHighestLimitVoltage 

func (s *Servo) SetHighestLimitVoltage(v int) error

func (*Servo) SetIdent 

func (s *Servo) SetIdent(ident int) error

SetIdent is a legacy alias for SetServoID.

func (*Servo) SetLED 

func (s *Servo) SetLED(state bool) error

Enables or disables the servo's LED.

func (*Servo) SetLimitTemperature 

func (s *Servo) SetLimitTemperature(v int) error

SetLimitTemperature is an alias for SetHighestLimitTemperature, since the XL-320 calls it that.

func (*Servo) SetLock 

func (s *Servo) SetLock(isLocked int) error

func (*Servo) SetLowestLimitVoltage 

func (s *Servo) SetLowestLimitVoltage(v int) error

func (*Servo) SetMaxTorque 

func (s *Servo) SetMaxTorque(v int) error

func (*Servo) SetMovingSpeed 

func (s *Servo) SetMovingSpeed(speed int) error

SetMovingSpeed the moving speed.

Note: Setting the moving speed appears to reset the TorqueEnabled register to 

true, at least on my AX12s.

func (*Servo) SetReturnDelayTime 

func (s *Servo) SetReturnDelayTime(v int) error

func (*Servo) SetReturnLevel 

func (s *Servo) SetReturnLevel(value int) error

SetReturnLevel sets the return level. Possible values are: 

0 = Only respond to PING commands
1 = Only respond to PING and READ commands
2 = Respond to all commands

The factory default setting is 2, but this register is persisted in EEPROM, so does not reset when power-cycled. To avoid waiting for a response from a servo which will never respond, or (worse) receiving unexpected responses, use this method to set the value explicitly immediately after connecting.

See: dxl_ax_actuator.htm#Actuator_Address_10

func (*Servo) SetServoID 

func (s *Servo) SetServoID(ident int) error

SetServoID changes the identity of the servo. This is stored in EEPROM, so will persist between reboots.

func (*Servo) SetTorqueEnable 

func (s *Servo) SetTorqueEnable(state bool) error

SetTorqueEnable enables or disables torque.

func (*Servo) SetTorqueLimit 

func (s *Servo) SetTorqueLimit(val int) error

func (*Servo) SetZero 

func (s *Servo) SetZero(offset float64)

Sets the origin angle (in degrees).

func (*Servo) TorqueEnable 

func (s *Servo) TorqueEnable() (bool, error)

func (*Servo) TorqueLimit 

func (s *Servo) TorqueLimit() (int, error)

func (*Servo) Voltage 

func (s *Servo) Voltage() (float64, error)

Voltage returns the current voltage supplied. Unlike the underlying register, this is the actual voltage, not multiplied by ten.

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