class Tinkerforge::BrickletServoV2

Drives up to 10 RC Servos

Constants

CALLBACK_POSITION_REACHED

This callback is triggered when a position set by BrickletServoV2#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 BrickletServoV2#set_position_reached_callback_configuration.

.. note

Since we can't get any feedback from the servo, this only works if the velocity (see BrickletServoV2#set_motion_configuration) 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.

Public Class Methods

new(uid, ipcon) click to toggle source

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

Calls superclass method
# File lib/tinkerforge/bricklet_servo_v2.rb, line 90
def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 0]

  @response_expected[FUNCTION_GET_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ENABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_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_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MOTION_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_MOTION_CONFIGURATION] = 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_SET_SERVO_CURRENT_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SERVO_CURRENT_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_INPUT_VOLTAGE_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_OVERALL_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CURRENT_CALIBRATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_CURRENT_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_POSITION_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = 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_UID] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_POSITION_REACHED] = [12, 'S s']

  @ipcon.add_device self
end

Public Instance Methods

get_bootloader_mode() click to toggle source

Returns the current bootloader mode, see BrickletServoV2#set_bootloader_mode.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 449
def get_bootloader_mode
  check_validity

  send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
end
get_chip_temperature() click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 507
def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end
get_current_calibration() click to toggle source

Returns the current calibration as set by BrickletServoV2#set_current_calibration.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 395
def get_current_calibration
  check_validity

  send_request FUNCTION_GET_CURRENT_CALIBRATION, [], '', 28, 's10'
end
get_current_position(servo_channel) click to toggle source

Returns the current position of the specified servo channel. This may not be the value of BrickletServoV2#set_position if the servo is currently approaching a position goal.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 196
def get_current_position(servo_channel)
  check_validity

  send_request FUNCTION_GET_CURRENT_POSITION, [servo_channel], 'S', 10, 's'
end
get_current_velocity(servo_channel) click to toggle source

Returns the current velocity of the specified servo channel. This may not be the velocity specified by BrickletServoV2#set_motion_configuration. if the servo is currently approaching a velocity goal.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 205
def get_current_velocity(servo_channel)
  check_validity

  send_request FUNCTION_GET_CURRENT_VELOCITY, [servo_channel], 'S', 10, 'S'
end
get_degree(servo_channel) click to toggle source

Returns the minimum and maximum degree for the specified servo channel as set by BrickletServoV2#set_degree.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 300
def get_degree(servo_channel)
  check_validity

  send_request FUNCTION_GET_DEGREE, [servo_channel], 'S', 12, 's s'
end
get_enabled(servo_channel) click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 166
def get_enabled(servo_channel)
  check_validity

  send_request FUNCTION_GET_ENABLED, [servo_channel], 'S', 9, '?'
end
get_identity() click to toggle source

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 :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 554
def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end
get_input_voltage() click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 379
def get_input_voltage
  check_validity

  send_request FUNCTION_GET_INPUT_VOLTAGE, [], '', 10, 'S'
end
get_input_voltage_configuration() click to toggle source

Returns the input voltage configuration as set by BrickletServoV2#set_input_voltage_configuration.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 364
def get_input_voltage_configuration
  check_validity

  send_request FUNCTION_GET_INPUT_VOLTAGE_CONFIGURATION, [], '', 9, 'C'
end
get_motion_configuration(servo_channel) click to toggle source

Returns the motion configuration as set by BrickletServoV2#set_motion_configuration.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 225
def get_motion_configuration(servo_channel)
  check_validity

  send_request FUNCTION_GET_MOTION_CONFIGURATION, [servo_channel], 'S', 20, 'L L L'
end
get_overall_current() click to toggle source

Returns the current consumption of all servos together in mA.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 371
def get_overall_current
  check_validity

  send_request FUNCTION_GET_OVERALL_CURRENT, [], '', 10, 'S'
end
get_period(servo_channel) click to toggle source

Returns the period for the specified servo channel as set by BrickletServoV2#set_period.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 328
def get_period(servo_channel)
  check_validity

  send_request FUNCTION_GET_PERIOD, [servo_channel], 'S', 12, 'L'
end
get_position(servo_channel) click to toggle source

Returns the position of the specified servo channel as set by BrickletServoV2#set_position.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 187
def get_position(servo_channel)
  check_validity

  send_request FUNCTION_GET_POSITION, [servo_channel], 'S', 10, 's'
end
get_position_reached_callback_configuration(servo_channel) click to toggle source

Returns the callback configuration as set by BrickletServoV2#set_position_reached_callback_configuration.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 410
def get_position_reached_callback_configuration(servo_channel)
  check_validity

  send_request FUNCTION_GET_POSITION_REACHED_CALLBACK_CONFIGURATION, [servo_channel], 'S', 9, '?'
end
get_pulse_width(servo_channel) click to toggle source

Returns the minimum and maximum pulse width for the specified servo channel as set by BrickletServoV2#set_pulse_width.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 256
def get_pulse_width(servo_channel)
  check_validity

  send_request FUNCTION_GET_PULSE_WIDTH, [servo_channel], 'S', 16, 'L L'
end
get_servo_current(servo_channel) click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 335
def get_servo_current(servo_channel)
  check_validity

  send_request FUNCTION_GET_SERVO_CURRENT, [servo_channel], 'S', 10, 'S'
end
get_servo_current_configuration(servo_channel) click to toggle source

Returns the servo current configuration for the specified servo channel as set by BrickletServoV2#set_servo_current_configuration.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 350
def get_servo_current_configuration(servo_channel)
  check_validity

  send_request FUNCTION_GET_SERVO_CURRENT_CONFIGURATION, [servo_channel], 'S', 9, 'C'
end
get_spitfp_error_count() click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 427
def get_spitfp_error_count
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
end
get_status() click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 151
def get_status
  check_validity

  send_request FUNCTION_GET_STATUS, [], '', 72, '?10 s10 s10 S10 S'
end
get_status_led_config() click to toggle source

Returns the configuration as set by BrickletServoV2#set_status_led_config

# File lib/tinkerforge/bricklet_servo_v2.rb, line 495
def get_status_led_config
  check_validity

  send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
end
read_uid() click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 538
def read_uid
  check_validity

  send_request FUNCTION_READ_UID, [], '', 12, 'L'
end
register_callback(id, &block) click to toggle source

Registers a callback with ID id to the block block.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 559
def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end
reset() click to toggle source

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!

# File lib/tinkerforge/bricklet_servo_v2.rb, line 519
def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end
set_bootloader_mode(mode) click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 442
def set_bootloader_mode(mode)
  check_validity

  send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
end
set_current_calibration(offset) click to toggle source

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

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 388
def set_current_calibration(offset)
  check_validity

  send_request FUNCTION_SET_CURRENT_CALIBRATION, [offset], 's10', 8, ''
end
set_degree(servo_channel, min, max) click to toggle source

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 BrickletServoV2#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 BrickletServoV2#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. BrickletServoV2#set_position 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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 292
def set_degree(servo_channel, min, max)
  check_validity

  send_request FUNCTION_SET_DEGREE, [servo_channel, min, max], 'S s s', 8, ''
end
set_enable(servo_channel, enable) click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 159
def set_enable(servo_channel, enable)
  check_validity

  send_request FUNCTION_SET_ENABLE, [servo_channel, enable], 'S ?', 8, ''
end
set_input_voltage_configuration(averaging_duration) click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 357
def set_input_voltage_configuration(averaging_duration)
  check_validity

  send_request FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION, [averaging_duration], 'C', 8, ''
end
set_motion_configuration(servo_channel, velocity, acceleration, deceleration) click to toggle source

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).

# File lib/tinkerforge/bricklet_servo_v2.rb, line 218
def set_motion_configuration(servo_channel, velocity, acceleration, deceleration)
  check_validity

  send_request FUNCTION_SET_MOTION_CONFIGURATION, [servo_channel, velocity, acceleration, deceleration], 'S L L L', 8, ''
end
set_period(servo_channel, period) click to toggle source
set_position(servo_channel, position) click to toggle source

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 BrickletServoV2#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 BrickletServoV2#set_degree.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 180
def set_position(servo_channel, position)
  check_validity

  send_request FUNCTION_SET_POSITION, [servo_channel, position], 'S s', 8, ''
end
set_position_reached_callback_configuration(servo_channel, enabled) click to toggle source

Enable/Disable CALLBACK_POSITION_REACHED callback.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 402
def set_position_reached_callback_configuration(servo_channel, enabled)
  check_validity

  send_request FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION, [servo_channel, enabled], 'S ?', 8, ''
end
set_pulse_width(servo_channel, min, max) click to toggle source
set_servo_current_configuration(servo_channel, averaging_duration) click to toggle source

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

# File lib/tinkerforge/bricklet_servo_v2.rb, line 342
def set_servo_current_configuration(servo_channel, averaging_duration)
  check_validity

  send_request FUNCTION_SET_SERVO_CURRENT_CONFIGURATION, [servo_channel, averaging_duration], 'S C', 8, ''
end
set_status_led_config(config) click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 488
def set_status_led_config(config)
  check_validity

  send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
end
set_write_firmware_pointer(pointer) click to toggle source

Sets the firmware pointer for BrickletServoV2#write_firmware. 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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 461
def set_write_firmware_pointer(pointer)
  check_validity

  send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
end
write_firmware(data) click to toggle source

Writes 64 Bytes of firmware at the position as written by BrickletServoV2#set_write_firmware_pointer 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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 475
def write_firmware(data)
  check_validity

  send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
end
write_uid(uid) click to toggle source

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.

# File lib/tinkerforge/bricklet_servo_v2.rb, line 530
def write_uid(uid)
  check_validity

  send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
end