Phidget Advanced Servo
[Specific Phidgets]


Typedefs

typedef struct
_CPhidgetAdvancedServo * 		CPhidgetAdvancedServoHandle

Enumerations

enum  CPhidget_ServoType {
  PHIDGET_SERVO_DEFAULT = 1, PHIDGET_SERVO_RAW_us_MODE, PHIDGET_SERVO_HITEC_HS322HD, PHIDGET_SERVO_HITEC_HS5245MG,
  PHIDGET_SERVO_HITEC_805BB, PHIDGET_SERVO_HITEC_HS422, PHIDGET_SERVO_TOWERPRO_MG90, PHIDGET_SERVO_HITEC_HSR1425CR,
  PHIDGET_SERVO_HITEC_HS785HB, PHIDGET_SERVO_HITEC_HS485HB, PHIDGET_SERVO_HITEC_HS645MG, PHIDGET_SERVO_HITEC_815BB,
  PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R, PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R, PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R, PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R,
  PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R, PHIDGET_SERVO_SPRINGRC_SM_S2313M, PHIDGET_SERVO_SPRINGRC_SM_S3317M, PHIDGET_SERVO_SPRINGRC_SM_S3317SR,
  PHIDGET_SERVO_SPRINGRC_SM_S4303R, PHIDGET_SERVO_SPRINGRC_SM_S4315M, PHIDGET_SERVO_SPRINGRC_SM_S4315R, PHIDGET_SERVO_SPRINGRC_SM_S4505B,
  PHIDGET_SERVO_USER_DEFINED
}

Functions

int CPhidgetAdvancedServo_create (CPhidgetAdvancedServoHandle *phid)
int CPhidgetAdvancedServo_getMotorCount (CPhidgetAdvancedServoHandle phid, int *count)
int CPhidgetAdvancedServo_getAcceleration (CPhidgetAdvancedServoHandle phid, int index, double *acceleration)
int CPhidgetAdvancedServo_setAcceleration (CPhidgetAdvancedServoHandle phid, int index, double acceleration)
int CPhidgetAdvancedServo_getAccelerationMax (CPhidgetAdvancedServoHandle phid, int index, double *max)
int CPhidgetAdvancedServo_getAccelerationMin (CPhidgetAdvancedServoHandle phid, int index, double *min)
int CPhidgetAdvancedServo_getVelocityLimit (CPhidgetAdvancedServoHandle phid, int index, double *limit)
int CPhidgetAdvancedServo_setVelocityLimit (CPhidgetAdvancedServoHandle phid, int index, double limit)
int CPhidgetAdvancedServo_getVelocity (CPhidgetAdvancedServoHandle phid, int index, double *velocity)
int CPhidgetAdvancedServo_getVelocityMax (CPhidgetAdvancedServoHandle phid, int index, double *max)
int CPhidgetAdvancedServo_getVelocityMin (CPhidgetAdvancedServoHandle phid, int index, double *min)
int CPhidgetAdvancedServo_set_OnVelocityChange_Handler (CPhidgetAdvancedServoHandle phid, int(*fptr)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double velocity), void *userPtr)
int CPhidgetAdvancedServo_getPosition (CPhidgetAdvancedServoHandle phid, int index, double *position)
int CPhidgetAdvancedServo_setPosition (CPhidgetAdvancedServoHandle phid, int index, double position)
int CPhidgetAdvancedServo_getPositionMax (CPhidgetAdvancedServoHandle phid, int index, double *max)
int CPhidgetAdvancedServo_setPositionMax (CPhidgetAdvancedServoHandle phid, int index, double max)
int CPhidgetAdvancedServo_getPositionMin (CPhidgetAdvancedServoHandle phid, int index, double *min)
int CPhidgetAdvancedServo_setPositionMin (CPhidgetAdvancedServoHandle phid, int index, double min)
int CPhidgetAdvancedServo_set_OnPositionChange_Handler (CPhidgetAdvancedServoHandle phid, int(*fptr)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double position), void *userPtr)
int CPhidgetAdvancedServo_getCurrent (CPhidgetAdvancedServoHandle phid, int index, double *current)
int CPhidgetAdvancedServo_set_OnCurrentChange_Handler (CPhidgetAdvancedServoHandle phid, int(*fptr)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double current), void *userPtr)
int CPhidgetAdvancedServo_getSpeedRampingOn (CPhidgetAdvancedServoHandle phid, int index, int *rampingState)
int CPhidgetAdvancedServo_setSpeedRampingOn (CPhidgetAdvancedServoHandle phid, int index, int rampingState)
int CPhidgetAdvancedServo_getEngaged (CPhidgetAdvancedServoHandle phid, int index, int *engagedState)
int CPhidgetAdvancedServo_setEngaged (CPhidgetAdvancedServoHandle phid, int index, int engagedState)
int CPhidgetAdvancedServo_getStopped (CPhidgetAdvancedServoHandle phid, int index, int *stoppedState)
int CPhidgetAdvancedServo_getServoType (CPhidgetAdvancedServoHandle phid, int index, CPhidget_ServoType *servoType)
int CPhidgetAdvancedServo_setServoType (CPhidgetAdvancedServoHandle phid, int index, CPhidget_ServoType servoType)
int CPhidgetAdvancedServo_setServoParameters (CPhidgetAdvancedServoHandle phid, int index, double min_us, double max_us, double degrees, double velocity_max)

Detailed Description

These calls are specific to the Phidget Advanced Servo object. See your device's User Guide for more specific API details, technical information, and revision details. The User Guide, along with other resources, can be found on the product page for your device.

Typedef Documentation

typedef struct _CPhidgetAdvancedServo* CPhidgetAdvancedServoHandle

A Phidget AdvancedServo handle

Enumeration Type Documentation

enum CPhidget_ServoType

The Phidget Servo Type sets the relationship of degrees to PCM width

Enumerator:
PHIDGET_SERVO_DEFAULT  Default - This is what the servo API been historically used, originally based on the Futaba FP-S148
PHIDGET_SERVO_RAW_us_MODE  Raw us mode - all position, velocity, acceleration functions are specified in microseconds rather then degrees
PHIDGET_SERVO_HITEC_HS322HD  HiTec HS-322HD Standard Servo
PHIDGET_SERVO_HITEC_HS5245MG  HiTec HS-5245MG Digital Mini Servo
PHIDGET_SERVO_HITEC_805BB  HiTec HS-805BB Mega Quarter Scale Servo
PHIDGET_SERVO_HITEC_HS422  HiTec HS-422 Standard Servo
PHIDGET_SERVO_TOWERPRO_MG90  Tower Pro MG90 Micro Servo
PHIDGET_SERVO_HITEC_HSR1425CR  HiTec HSR-1425CR Continuous Rotation Servo
PHIDGET_SERVO_HITEC_HS785HB  HiTec HS-785HB Sail Winch Servo
PHIDGET_SERVO_HITEC_HS485HB  HiTec HS-485HB Deluxe Servo
PHIDGET_SERVO_HITEC_HS645MG  HiTec HS-645MG Ultra Torque Servo
PHIDGET_SERVO_HITEC_815BB  HiTec HS-815BB Mega Sail Servo
PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R  Firgelli L12 Linear Actuator 30mm 50:1
PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R  Firgelli L12 Linear Actuator 50mm 100:1
PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R  Firgelli L12 Linear Actuator 50mm 210:1
PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R  Firgelli L12 Linear Actuator 100mm 50:1
PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R  Firgelli L12 Linear Actuator 100mm 100:1
PHIDGET_SERVO_SPRINGRC_SM_S2313M  SpringRC SM-S2313M Micro Servo
PHIDGET_SERVO_SPRINGRC_SM_S3317M  SpringRC SM-S3317M Small Servo
PHIDGET_SERVO_SPRINGRC_SM_S3317SR  SpringRC SM-S3317SR Small Continuous Rotation Servo
PHIDGET_SERVO_SPRINGRC_SM_S4303R  SpringRC SM-S4303R Standard Continuous Rotation Servo
PHIDGET_SERVO_SPRINGRC_SM_S4315M  SpringRC SM-S4315M High Torque Servo
PHIDGET_SERVO_SPRINGRC_SM_S4315R  SpringRC SM-S4315R High Torque Continuous Rotation Servo
PHIDGET_SERVO_SPRINGRC_SM_S4505B  SpringRC SM-S4505B Standard Servo

Function Documentation

int CPhidgetAdvancedServo_create ( CPhidgetAdvancedServoHandle *  phid  ) 

Creates a Phidget AdvancedServo handle.

Parameters:
phid A pointer to an unallocated Phidget AdvancedServo handle.

int CPhidgetAdvancedServo_getMotorCount ( CPhidgetAdvancedServoHandle  phid,
int *  count 
)

Gets the number of motors supported by this controller

Parameters:
phid An attached phidget advanced servo handle.
count The motor count.

int CPhidgetAdvancedServo_getAcceleration ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  acceleration 
)

Gets the last set acceleration for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
acceleration The acceleration

int CPhidgetAdvancedServo_setAcceleration ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  acceleration 
)

Sets the acceleration for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
acceleration The acceleration

int CPhidgetAdvancedServo_getAccelerationMax ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  max 
)

Gets the maximum acceleration supported by a motor

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
max The maximum acceleration.

int CPhidgetAdvancedServo_getAccelerationMin ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  min 
)

Gets the minimum acceleration supported by a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
min The minimum acceleration

int CPhidgetAdvancedServo_getVelocityLimit ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  limit 
)

Gets the last set velocity limit for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
limit The velocity limit.

int CPhidgetAdvancedServo_setVelocityLimit ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  limit 
)

Sets the velocity limit for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
limit The velocity limit.

int CPhidgetAdvancedServo_getVelocity ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  velocity 
)

Gets the current velocity of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
velocity The current velocity.

int CPhidgetAdvancedServo_getVelocityMax ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  max 
)

Gets the maximum velocity that can be set for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
max The maximum velocity

int CPhidgetAdvancedServo_getVelocityMin ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  min 
)

Gets the minimum velocity that can be set for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
min The minimum velocity.

int CPhidgetAdvancedServo_set_OnVelocityChange_Handler ( CPhidgetAdvancedServoHandle  phid,
int(*)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double velocity)  fptr,
void *  userPtr 
)

Sets a velocity change event handler. This is called when the velocity changes.

Parameters:
phid An attached phidget advanced servo handle
fptr Callback function pointer.
userPtr A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetAdvancedServo_getPosition ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  position 
)

Gets the current position of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
position The position.

int CPhidgetAdvancedServo_setPosition ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  position 
)

Sets the position of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
position The position.

int CPhidgetAdvancedServo_getPositionMax ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  max 
)

Gets the maximum position that a motor can go to.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
max The maximum position.

int CPhidgetAdvancedServo_setPositionMax ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  max 
)

Sets the maximum position that a motor can go to.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
max The Maximum position.

int CPhidgetAdvancedServo_getPositionMin ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  min 
)

Gets the minimum position that a motor can go to.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
min The minimum position

int CPhidgetAdvancedServo_setPositionMin ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  min 
)

Sets the minimum position that a motor can go to.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
min The minimum position

int CPhidgetAdvancedServo_set_OnPositionChange_Handler ( CPhidgetAdvancedServoHandle  phid,
int(*)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double position)  fptr,
void *  userPtr 
)

Sets a position change event handler. This is called when the position changes.

Parameters:
phid An attached phidget advanced servo handle
fptr Callback function pointer.
userPtr A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetAdvancedServo_getCurrent ( CPhidgetAdvancedServoHandle  phid,
int  index,
double *  current 
)

Gets the current current draw for a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
current The current.

int CPhidgetAdvancedServo_set_OnCurrentChange_Handler ( CPhidgetAdvancedServoHandle  phid,
int(*)(CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double current)  fptr,
void *  userPtr 
)

Sets a current change event handler. This is called when the current draw changes.

Parameters:
phid An attached phidget advanced servo handle
fptr Callback function pointer.
userPtr A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetAdvancedServo_getSpeedRampingOn ( CPhidgetAdvancedServoHandle  phid,
int  index,
int *  rampingState 
)

Gets the speed ramping state for a motor. This is whether or not velocity and acceleration are used.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
rampingState The speed ramping state. Possible values are PTRUE and PFALSE.

int CPhidgetAdvancedServo_setSpeedRampingOn ( CPhidgetAdvancedServoHandle  phid,
int  index,
int  rampingState 
)

Sets the speed ramping state for a motor. This is whether or not velocity and acceleration are used.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
rampingState The speed ramping state. Possible values are PTRUE and PFALSE.

int CPhidgetAdvancedServo_getEngaged ( CPhidgetAdvancedServoHandle  phid,
int  index,
int *  engagedState 
)

Gets the engaged state of a motor. This is whether the motor is powered or not.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
engagedState The engaged state. Possible values are PTRUE and PFALSE.

int CPhidgetAdvancedServo_setEngaged ( CPhidgetAdvancedServoHandle  phid,
int  index,
int  engagedState 
)

Sets the engaged state of a motor. This is whether the motor is powered or not.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
engagedState The engaged state. Possible values are PTRUE and PFALSE.

int CPhidgetAdvancedServo_getStopped ( CPhidgetAdvancedServoHandle  phid,
int  index,
int *  stoppedState 
)

Gets the stopped state of a motor. This is true when the motor is not moving and there are no outstanding commands.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
stoppedState The stopped state. Possible values are PTRUE and PFALSE.

int CPhidgetAdvancedServo_getServoType ( CPhidgetAdvancedServoHandle  phid,
int  index,
CPhidget_ServoType *  servoType 
)

Gets the servo type of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
servoType The servo type.

int CPhidgetAdvancedServo_setServoType ( CPhidgetAdvancedServoHandle  phid,
int  index,
CPhidget_ServoType  servoType 
)

Sets the servo type of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
servoType The servo type.

int CPhidgetAdvancedServo_setServoParameters ( CPhidgetAdvancedServoHandle  phid,
int  index,
double  min_us,
double  max_us,
double  degrees,
double  velocity_max 
)

Sets the servo parameters of a motor.

Parameters:
phid An attached phidget advanced servo handle
index The motor index.
min_us The minimum supported PCM in microseconds.
max_us The maximum supported PCM in microseconds.
degrees The degrees of rotation defined by the given PCM range.
velocity_max The maximum velocity in degrees/second.

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