PhidgetAdvancedServo

A class for controlling a PhidgetAdvancedServo. See your product manual for more specific API details, supported functionality, units, etc.

Summary

PhidgetAdvancedServo	A class for controlling a PhidgetAdvancedServo.
Events	Events supported by PhidgetAdvancedServo.
Constants
Servo Types	These are the some predefined servo motors.
Properties
MotorCount	Gets the number of motors supported by this controller.
Functions
getAccelerationMin	Gets the minimum settable acceleration for a motor.
getAccelerationMax	Gets the maximum settable acceleration for a motor.
getPositionMin	Gets the minimum position that a motor can go to.
getPositionMax	Gets the maximum position that a motor can go to.
getVelocityMin	Gets the minimum velocity that a motor can be set to.
getVelocityMax	Gets the maximum velocity that a motor can be set to.
getAcceleration	Gets the last acceleration that a motor was set to.
getVelocity	Gets the current velocity of a motor
getVelocityLimit	Gets the last velocity limit that a motor was set to.
getCurrent	Gets the current current that a motor is drawing.
getPosition	Gets the current position of a motor.
getEngaged	Gets the engaged state of a motor.
getStopped	Gets the stopped state of a motor.
getSpeedRampingOn	Gets the speed ramping state of the motor.
getServoType	Gets the servo motor type.
setAcceleration	Sets the acceleration of a motor.
setVelocityLimit	Sets the velocity limit of a motor.
setPosition	Sets the position of a motor.
setPositionMax	Sets the maximum position that a motor can be set to.
setPositionMin	Sets the minimum position that a motor can be set to.
setEngaged	Sets the engaged state of a motor.
setSpeedRampingOn	Sets the speed ramping state of a motor.
setServoType	Sets the servo type
setServoParameters	Sets the servo parameters

Events

Events supported by PhidgetAdvancedServo. Pass these constants to the addEventListener() function when adding event listeners to a Phidget object.

PhidgetDataEvent.VELOCITY_CHANGE	velocity change
PhidgetDataEvent.POSITION_CHANGE	position change
PhidgetDataEvent.CURRENT_CHANGE	current change

Constants

Servo Types

These are the some predefined servo motors. Setting one of these will set degree-PCM ratio, min and max angle, and max velocity. Custom servo parameters can be set with the setServoParameters function.

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
PHIDGET_SERVO_USER_DEFINED	User defined servo parameters

Properties

MotorCount

public function get MotorCount():int

Gets the number of motors supported by this controller.

Functions

getAccelerationMin

public function getAccelerationMin( index: int ):Number

Gets the minimum settable acceleration for a motor.

Parameters

index

motor index

getAccelerationMax

public function getAccelerationMax( index: int ):Number

Gets the maximum settable acceleration for a motor.

Parameters

index

motor index

getPositionMin

public function getPositionMin( index: int ):Number

Gets the minimum position that a motor can go to.

Parameters

index

motor index

getPositionMax

public function getPositionMax( index: int ):Number

Gets the maximum position that a motor can go to.

Paramters

index

motor index

getVelocityMin

public function getVelocityMin( index: int ):Number

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

parameters

index

motor index

getVelocityMax

public function getVelocityMax( index: int ):Number

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

Parameters

index

motor index

getAcceleration

public function getAcceleration( index: int ):Number

Gets the last acceleration that a motor was set to.

Parameters

index

motor index

getVelocity

public function getVelocity( index: int ):Number

Gets the current velocity of a motor

Parameters

index

motor index

getVelocityLimit

public function getVelocityLimit( index: int ):Number

Gets the last velocity limit that a motor was set to.

Parameters

index

motor index

getCurrent

public function getCurrent( index: int ):Number

Gets the current current that a motor is drawing.

Parameters

index

motor index

getPosition

public function getPosition( index: int ):Number

Gets the current position of a motor.

Parameters

index

motor index

getEngaged

public function getEngaged( index: int ):Boolean

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

Parameters

index

motor index

getStopped

public function getStopped( index: int ):Boolean

Gets the stopped state of a motor. This is whether or not the motor is moving/processing commands.

Parameters

index

motor index

getSpeedRampingOn

public function getSpeedRampingOn( index: int ):Boolean

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

Parameters

index

motor index

getServoType

public function getServoType( index: int ):int

Gets the servo motor type. This is one of the PHIDGET_SERVO_* constants.

Parameters

index

motor index

setAcceleration

public function setAcceleration( index: int,
val: Number ):void

Sets the acceleration of a motor.

Parameters

index	motor index
val	acceleration

setVelocityLimit

public function setVelocityLimit( index: int,
val: Number ):void

Sets the velocity limit of a motor.

Parameters

index	motor index
val	velocity limit

setPosition

public function setPosition( index: int,
val: Number ):void

Sets the position of a motor.

Parameters

index	motor index
val	motor position

setPositionMax

public function setPositionMax( index: int,
val: Number ):void

Sets the maximum position that a motor can be set to.

Parameters

index	motor index
val	motor position

setPositionMin

public function setPositionMin( index: int,
val: Number ):void

Sets the minimum position that a motor can be set to.

Parameters

index	motor index
val	motor position

setEngaged

public function setEngaged( index: int,
val: Boolean ):void

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

Parameters

index	motor index
val	engaged state

setSpeedRampingOn

public function setSpeedRampingOn( index: int,
val: Boolean ):void

Sets the speed ramping state of a motor. This is whether the motor uses acceleration and velocity or not.

Parameters

index	motor index
val	speed ramping state

setServoType

public function setServoType( index: int,
val: int ):void

Sets the servo type

Parameters

index	motor index
val	servoType

setServoParameters

public function setServoParameters( index: int,
minUs: Number,
maxUs: Number,
degrees: Number,
velocityMax: Number ):void

Sets the servo parameters

Parameters

index	motor index
minUs	minimum PCM in microseconds
maxUs	maximum PCM in microseconds
degrees	total range of motion in degrees
velocityMax	maximum velocity of servo in degrees/second