class Tinkerforge::BrickServo

Drives up to 7 RC Servos with up to 3A

Constants

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.

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.

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.

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/brick_servo.rb, line 107
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

Public Instance Methods

disable(servo_num) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 176
def disable(servo_num)
  check_validity

  send_request FUNCTION_DISABLE, [servo_num], 'C', 8, ''
end
disable_position_reached_callback() click to toggle source

Disables the CALLBACK_POSITION_REACHED callback.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 448
def disable_position_reached_callback
  check_validity

  send_request FUNCTION_DISABLE_POSITION_REACHED_CALLBACK, [], '', 8, ''
end
disable_status_led() click to toggle source

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)

# File lib/tinkerforge/brick_servo.rb, line 614
def disable_status_led
  check_validity

  send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
end
disable_velocity_reached_callback() click to toggle source

Disables the CALLBACK_VELOCITY_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 479
def disable_velocity_reached_callback
  check_validity

  send_request FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK, [], '', 8, ''
end
enable(servo_num) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 168
def enable(servo_num)
  check_validity

  send_request FUNCTION_ENABLE, [servo_num], 'C', 8, ''
end
enable_position_reached_callback() click to toggle source

Enables the CALLBACK_POSITION_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 439
def enable_position_reached_callback
  check_validity

  send_request FUNCTION_ENABLE_POSITION_REACHED_CALLBACK, [], '', 8, ''
end
enable_status_led() click to toggle source

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)

# File lib/tinkerforge/brick_servo.rb, line 600
def enable_status_led
  check_validity

  send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
end
enable_velocity_reached_callback() click to toggle source

Enables the CALLBACK_VELOCITY_REACHED callback.

Default is disabled.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 468
def enable_velocity_reached_callback
  check_validity

  send_request FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK, [], '', 8, ''
end
get_acceleration(servo_num) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 258
def get_acceleration(servo_num)
  check_validity

  send_request FUNCTION_GET_ACCELERATION, [servo_num], 'C', 10, 'S'
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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

# File lib/tinkerforge/brick_servo.rb, line 646
def get_chip_temperature
  check_validity

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

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.

# File lib/tinkerforge/brick_servo.rb, line 213
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) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 240
def get_current_velocity(servo_num)
  check_validity

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

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

# File lib/tinkerforge/brick_servo.rb, line 345
def get_degree(servo_num)
  check_validity

  send_request FUNCTION_GET_DEGREE, [servo_num], 'C', 12, 's s'
end
get_external_input_voltage() click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 410
def get_external_input_voltage
  check_validity

  send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 10, 'S'
end
get_identity() click to toggle source

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|

# File lib/tinkerforge/brick_servo.rb, line 694
def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end
get_minimum_voltage() click to toggle source

Returns the minimum voltage as set by BrickServo#set_minimum_voltage

# File lib/tinkerforge/brick_servo.rb, line 428
def get_minimum_voltage
  check_validity

  send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 10, 'S'
end
get_output_voltage() click to toggle source

Returns the output voltage as specified by BrickServo#set_output_voltage.

# File lib/tinkerforge/brick_servo.rb, line 277
def get_output_voltage
  check_validity

  send_request FUNCTION_GET_OUTPUT_VOLTAGE, [], '', 10, 'S'
end
get_overall_current() click to toggle source

Returns the current consumption of all servos together.

# File lib/tinkerforge/brick_servo.rb, line 383
def get_overall_current
  check_validity

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

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

# File lib/tinkerforge/brick_servo.rb, line 369
def get_period(servo_num)
  check_validity

  send_request FUNCTION_GET_PERIOD, [servo_num], 'C', 10, 'S'
end
get_position(servo_num) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 204
def get_position(servo_num)
  check_validity

  send_request FUNCTION_GET_POSITION, [servo_num], 'C', 10, 's'
end
get_protocol1_bricklet_name(port) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 634
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) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 304
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) click to toggle source

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)

# File lib/tinkerforge/brick_servo.rb, line 537
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) click to toggle source

Returns the current consumption of the specified servo.

# File lib/tinkerforge/brick_servo.rb, line 376
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) click to toggle source

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

.. versionadded

2.3.2$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 567
def get_spitfp_baudrate(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
end
get_spitfp_baudrate_config() click to toggle source

Returns the baudrate config, see BrickServo#set_spitfp_baudrate_config.

.. versionadded

2.3.4$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 523
def get_spitfp_baudrate_config
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
end
get_spitfp_error_count(bricklet_port) 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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

.. versionadded

2.3.2$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 586
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() click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 392
def get_stack_input_voltage
  check_validity

  send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 10, 'S'
end
get_velocity(servo_num) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 231
def get_velocity(servo_num)
  check_validity

  send_request FUNCTION_GET_VELOCITY, [servo_num], 'C', 10, 'S'
end
is_enabled(servo_num) click to toggle source

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

# File lib/tinkerforge/brick_servo.rb, line 183
def is_enabled(servo_num)
  check_validity

  send_request FUNCTION_IS_ENABLED, [servo_num], 'C', 9, '?'
end
is_position_reached_callback_enabled() click to toggle source

Returns true if CALLBACK_POSITION_REACHED callback is enabled, false otherwise.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 457
def is_position_reached_callback_enabled
  check_validity

  send_request FUNCTION_IS_POSITION_REACHED_CALLBACK_ENABLED, [], '', 9, '?'
end
is_status_led_enabled() click to toggle source

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

.. versionadded

2.3.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 623
def is_status_led_enabled
  check_validity

  send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
end
is_velocity_reached_callback_enabled() click to toggle source

Returns true if CALLBACK_VELOCITY_REACHED callback is enabled, false otherwise.

.. versionadded

2.0.1$nbsp;(Firmware)

# File lib/tinkerforge/brick_servo.rb, line 488
def is_velocity_reached_callback_enabled
  check_validity

  send_request FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED, [], '', 9, '?'
end
read_bricklet_plugin(port, offset) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 680
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) click to toggle source

Registers a callback with ID id to the block block.

# File lib/tinkerforge/brick_servo.rb, line 699
def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end
reset() click to toggle source

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!

# File lib/tinkerforge/brick_servo.rb, line 658
def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end
set_acceleration(servo_num, acceleration) click to toggle source

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).

# File lib/tinkerforge/brick_servo.rb, line 250
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) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 337
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) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 421
def set_minimum_voltage(voltage)
  check_validity

  send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 8, ''
end
set_output_voltage(voltage) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 270
def set_output_voltage(voltage)
  check_validity

  send_request FUNCTION_SET_OUTPUT_VOLTAGE, [voltage], 'S', 8, ''
end
set_period(servo_num, period) click to toggle source
set_position(servo_num, position) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 197
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) click to toggle source
set_spitfp_baudrate(bricklet_port, baudrate) click to toggle source

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)

# File lib/tinkerforge/brick_servo.rb, line 558
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) click to toggle source

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)

# File lib/tinkerforge/brick_servo.rb, line 514
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) click to toggle source

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).

# File lib/tinkerforge/brick_servo.rb, line 224
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) click to toggle source

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.

# File lib/tinkerforge/brick_servo.rb, line 669
def write_bricklet_plugin(port, offset, chunk)
  check_validity

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