com.phidgets
Class AdvancedServoPhidget

java.lang.Object
  com.phidgets.Phidget
      com.phidgets.AdvancedServoPhidget

public final class AdvancedServoPhidget

extends Phidget

This class represents a Phidget Advanced Servo Controller. All methods to to control a motor controller and read back motor data are implemented in this class.

The Phidget Advanced Servo Controller is able to control 1 or more servo motors. Motos acceleration and Velocity are controllable. The number of servos that can be controlled depends on the version of the controller.

Author:

Phidgets Inc.

Field Summary

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

Fields inherited from class com.phidgets.Phidget

PHIDCLASS_ACCELEROMETER, PHIDCLASS_ADVANCEDSERVO, PHIDCLASS_ANALOG, PHIDCLASS_BRIDGE, PHIDCLASS_ENCODER, PHIDCLASS_FREQUENCYCOUNTER, PHIDCLASS_GPS, PHIDCLASS_INTERFACEKIT, PHIDCLASS_LED, PHIDCLASS_MOTORCONTROL, PHIDCLASS_NOTHING, PHIDCLASS_PHSENSOR, PHIDCLASS_RFID, PHIDCLASS_SERVO, PHIDCLASS_STEPPER, PHIDCLASS_TEMPERATURESENSOR, PHIDCLASS_TEXTLCD, PHIDCLASS_TEXTLED, PHIDCLASS_WEIGHTSENSOR, PHIDGET_LOG_CRITICAL, PHIDGET_LOG_DEBUG, PHIDGET_LOG_ERROR, PHIDGET_LOG_INFO, PHIDGET_LOG_VERBOSE, PHIDGET_LOG_WARNING, PHIDID_ACCELEROMETER_2AXIS, PHIDID_ACCELEROMETER_3AXIS, PHIDID_ADVANCEDSERVO_1MOTOR, PHIDID_ADVANCEDSERVO_8MOTOR, PHIDID_ANALOG_4OUTPUT, PHIDID_BIPOLAR_STEPPER_1MOTOR, PHIDID_BRIDGE_4INPUT, PHIDID_ENCODER_1ENCODER_1INPUT, PHIDID_ENCODER_HS_1ENCODER, PHIDID_ENCODER_HS_4ENCODER_4INPUT, PHIDID_FREQUENCYCOUNTER_2INPUT, PHIDID_GPS, PHIDID_INTERFACEKIT_0_0_4, PHIDID_INTERFACEKIT_0_0_8, PHIDID_INTERFACEKIT_0_16_16, PHIDID_INTERFACEKIT_0_8_8_w_LCD, PHIDID_INTERFACEKIT_2_2_2, PHIDID_INTERFACEKIT_4_8_8, PHIDID_INTERFACEKIT_8_8_8, PHIDID_INTERFACEKIT_8_8_8_w_LCD, PHIDID_IR, PHIDID_LED_64, PHIDID_LED_64_ADV, PHIDID_LINEAR_TOUCH, PHIDID_MOTORCONTROL_1MOTOR, PHIDID_MOTORCONTROL_HC_2MOTOR, PHIDID_MOTORCONTROL_LV_2MOTOR_4INPUT, PHIDID_NOTHING, PHIDID_PHSENSOR, PHIDID_RFID, PHIDID_RFID_2OUTPUT, PHIDID_RFID_2OUTPUT_READ_WRITE, PHIDID_ROTARY_TOUCH, PHIDID_SERVO_1MOTOR, PHIDID_SERVO_1MOTOR_OLD, PHIDID_SERVO_4MOTOR, PHIDID_SERVO_4MOTOR_OLD, PHIDID_SPATIAL_ACCEL_3AXIS, PHIDID_SPATIAL_ACCEL_GYRO_COMPASS, PHIDID_TEMPERATURESENSOR, PHIDID_TEMPERATURESENSOR_4, PHIDID_TEMPERATURESENSOR_IR, PHIDID_TEXTLCD_2x20, PHIDID_TEXTLCD_2x20_w_0_8_8, PHIDID_TEXTLCD_2x20_w_8_8_8, PHIDID_TEXTLCD_ADAPTER, PHIDID_TEXTLED_1x8, PHIDID_TEXTLED_4x8, PHIDID_UNIPOLAR_STEPPER_4MOTOR, PHIDID_WEIGHTSENSOR

Constructor Summary

AdvancedServoPhidget()

Method Summary

void	addCurrentChangeListener(CurrentChangeListener l) Adds a current change listener.
void	addServoPositionChangeListener(ServoPositionChangeListener l) Adds a position change listener.
void	addServoVelocityChangeListener(ServoVelocityChangeListener l) Adds a velocity change listener.
double	getAcceleration(int index) Returns a motor's acceleration.
double	getAccelerationMax(int index) Returns the maximum acceleration that a motor will accept, or return.
double	getAccelerationMin(int index) Returns the minimum acceleration that a motor will accept, or return.
double	getCurrent(int index) Returns a motor's current usage.
boolean	getEngaged(int index) Returns the engaged state of a motor.
int	getMotorCount() Returns the number of servo motors supported by this Phidget.
double	getPosition(int index) Returns a motor's current position.
double	getPositionMax(int index) Returns the maximum position that a servo motor will accept, or return.
double	getPositionMin(int index) Returns the minimum position that a servo motor will accept, or return.
int	getServoType(int index) Returns the servo type for an index.
boolean	getSpeedRampingOn(int index) Returns the speed ramping state of a motor.
boolean	getStopped(int index) Returns the stopped state of a motor.
double	getVelocity(int index) Returns a motor's current velocity.
double	getVelocityLimit(int index) Returns a motor's velocity limit.
double	getVelocityMax(int index) Returns the maximum velocity that a servo motor will accept, or return.
double	getVelocityMin(int index) Returns the minimum velocity that a servo motor will accept, or return.
void	removeCurrentChangeListener(CurrentChangeListener l)
void	removeServoPositionChangeListener(ServoPositionChangeListener l)
void	removeServoVelocityChangeListener(ServoVelocityChangeListener l)
void	setAcceleration(int index, double acceleration) Sets a motor's acceleration.
void	setEngaged(int index, boolean state) Engage or disengage a motor.
void	setPosition(int index, double position) Sets a motor's target position.
void	setPositionMax(int index, double position) Sets the maximum position that a servo motor will accept, or return.
void	setPositionMin(int index, double position) Sets the minimum position that a servo motor will accept, or return.
void	setServoParameters(int index, double minUs, double maxUs, double degrees, double velocityMax) Sets the servo parameters for a custom servo definition.
void	setServoType(int index, int type) Sets the servo type for an index.
void	setSpeedRampingOn(int index, boolean state) Sets the speed ramping state.
void	setVelocityLimit(int index, double velocity) Sets a motor's velocity limit.

Methods inherited from class com.phidgets.Phidget

addAttachListener, addDetachListener, addErrorListener, addServerConnectListener, addServerDisconnectListener, close, disableLogging, enableLogging, equals, getDeviceClass, getDeviceID, getDeviceLabel, getDeviceName, getDeviceType, getDeviceVersion, getLibraryVersion, getSerialNumber, getServerAddress, getServerID, getServerPort, isAttached, isAttachedToServer, log, open, open, open, open, open, openAny, openAny, openAny, openAny, openAny, openLabel, openLabel, openLabel, openLabel, openLabel, removeAttachListener, removeDetachListener, removeErrorListener, removeServerConnectListener, removeServerDisconnectListener, setDeviceLabel, toString, waitForAttachment, waitForAttachment

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

PHIDGET_SERVO_DEFAULT

public static final int PHIDGET_SERVO_DEFAULT

Default - This is what the servo API been historically used, originally based on the Futaba FP-S148. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_RAW_us_MODE

public static final int PHIDGET_SERVO_RAW_us_MODE

Raw us mode - all position, velocity, acceleration functions are specified in microseconds rather then degrees. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS322HD

public static final int PHIDGET_SERVO_HITEC_HS322HD

HiTec HS-322HD Standard Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS5245MG

public static final int PHIDGET_SERVO_HITEC_HS5245MG

HiTec HS-5245MG Digital Mini Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_805BB

public static final int PHIDGET_SERVO_HITEC_805BB

HiTec HS-805BB Mega Quarter Scale Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS422

public static final int PHIDGET_SERVO_HITEC_HS422

HiTec HS-422 Standard Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_TOWERPRO_MG90

public static final int PHIDGET_SERVO_TOWERPRO_MG90

Tower Pro MG90 Micro Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HSR1425CR

public static final int PHIDGET_SERVO_HITEC_HSR1425CR

HiTec HSR-1425CR Continuous Rotation Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS785HB

public static final int PHIDGET_SERVO_HITEC_HS785HB

HiTec HS-785HB Sail Winch Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS485HB

public static final int PHIDGET_SERVO_HITEC_HS485HB

HiTec HS-485HB Deluxe Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_HS645MG

public static final int PHIDGET_SERVO_HITEC_HS645MG

HiTec HS-645MG Ultra Torque Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_HITEC_815BB

public static final int PHIDGET_SERVO_HITEC_815BB

HiTec HS-815BB Mega Sail Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R

public static final int PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R

Firgelli L12 Linear Actuator 30mm 50:1. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R

public static final int PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R

Firgelli L12 Linear Actuator 50mm 100:1. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R

public static final int PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R

Firgelli L12 Linear Actuator 50mm 210:1. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R

public static final int PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R

Firgelli L12 Linear Actuator 100mm 50:1. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R

public static final int PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R

Firgelli L12 Linear Actuator 100mm 100:1. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S2313M

public static final int PHIDGET_SERVO_SPRINGRC_SM_S2313M

SpringRC SM-S2313M Micro Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S3317M

public static final int PHIDGET_SERVO_SPRINGRC_SM_S3317M

SpringRC SM-S3317M Small Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S3317SR

public static final int PHIDGET_SERVO_SPRINGRC_SM_S3317SR

SpringRC SM-S3317SR Small Continuous Rotation Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S4303R

public static final int PHIDGET_SERVO_SPRINGRC_SM_S4303R

SpringRC SM-S4303R Standard Continuous Rotation Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S4315M

public static final int PHIDGET_SERVO_SPRINGRC_SM_S4315M

SpringRC SM-S4315M High Torque Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S4315R

public static final int PHIDGET_SERVO_SPRINGRC_SM_S4315R

SpringRC SM-S4315R High Torque Continuous Rotation Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_SPRINGRC_SM_S4505B

public static final int PHIDGET_SERVO_SPRINGRC_SM_S4505B

SpringRC SM-S4505B Standard Servo. This is used with getServoType and setServoType

See Also:

Constant Field Values

PHIDGET_SERVO_USER_DEFINED

public static final int PHIDGET_SERVO_USER_DEFINED

User Defined servo parameters. This is used with getServoType

See Also:

Constant Field Values

Constructor Detail

AdvancedServoPhidget

public AdvancedServoPhidget()
                     throws PhidgetException

Method Detail

getMotorCount

public int getMotorCount()
                  throws PhidgetException

Returns the number of servo motors supported by this Phidget. This does not neccesarily correspond to the number of motors actually attached to the board.

Returns:

number of supported motors

Throws:

PhidgetException - If this Phidget is not opened and attached. See open for information on determining if a device is attached.

getAccelerationMax

public double getAccelerationMax(int index)
                          throws PhidgetException

Returns the maximum acceleration that a motor will accept, or return.

This value is in degrees per second squared.

Parameters:

index - Index of the motor

Returns:

Maximum acceleration

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getAccelerationMin

public double getAccelerationMin(int index)
                          throws PhidgetException

Returns the minimum acceleration that a motor will accept, or return.

This value is in degrees per second squared.

Parameters:

index - Index of the motor

Returns:

Minimum acceleration

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getVelocityMax

public double getVelocityMax(int index)
                      throws PhidgetException

Returns the maximum velocity that a servo motor will accept, or return.

This value is in degrees per second.

Parameters:

index - Index of the motor

Returns:

Maximum velocity

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getVelocityMin

public double getVelocityMin(int index)
                      throws PhidgetException

Returns the minimum velocity that a servo motor will accept, or return.

This value is in degrees per second.

Parameters:

index - Index of the motor

Returns:

Minimum velocity

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getPositionMax

public double getPositionMax(int index)
                      throws PhidgetException

Returns the maximum position that a servo motor will accept, or return.

This value is in degrees.

Parameters:

index - Index of the motor

Returns:

Maximum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

setPositionMax

public void setPositionMax(int index,
                           double position)
                    throws PhidgetException

Sets the maximum position that a servo motor will accept, or return. This is for limiting the range of motion of the servo controller. The Maximum cannot be extended beyond it's original value.

This value is in degrees.

Parameters:

index - Index of the motor

position - Maximum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getPositionMin

public double getPositionMin(int index)
                      throws PhidgetException

Returns the minimum position that a servo motor will accept, or return.

This value uses the same units as

This value is in degrees.

Parameters:

index - Index of the motor

Returns:

Minimum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

setPositionMin

public void setPositionMin(int index,
                           double position)
                    throws PhidgetException

Sets the minimum position that a servo motor will accept, or return. This is for limiting the range of motion of the servo controller. The Minimum cannot be extended beyond it's original value.

This value is in degrees.

Parameters:

index - Index of the motor

position - Minimum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getAcceleration

public double getAcceleration(int index)
                       throws PhidgetException

Returns a motor's acceleration. The valid range is between getAccelerationMin and getAccelerationMax, and refers to how fast the Servo Controller will change the speed of a motor.

This value is in degrees per second squared.

Parameters:

index - index of motor

Returns:

acceleration of motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the acceleration is unknown. See open for information on determining if a device is attached.

setAcceleration

public void setAcceleration(int index,
                            double acceleration)
                     throws PhidgetException

Sets a motor's acceleration. The valid range is between getAccelerationMin and getAccelerationMax. This controls how fast the motor changes speed.

This value is in degrees per second squared.

Parameters:

index - index of the motor

acceleration - requested acceleration for that motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or acceleration are invalid. See open for information on determining if a device is attached.

getVelocityLimit

public double getVelocityLimit(int index)
                        throws PhidgetException

Returns a motor's velocity limit. This is the maximum velocity that the motor will turn at. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in degrees per second.

Parameters:

index - index of the motor

Returns:

current speed of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. See open for information on determining if a device is attached.

setVelocityLimit

public void setVelocityLimit(int index,
                             double velocity)
                      throws PhidgetException

Sets a motor's velocity limit. This is the maximum velocity that the motor will turn at. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in degrees per second.

Parameters:

index - index of the motor

velocity - requested velocity for the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or velocity are invalid. See open for information on determining if a device is attached.

getVelocity

public double getVelocity(int index)
                   throws PhidgetException

Returns a motor's current velocity. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in degrees per second.

Parameters:

index - index of the motor

Returns:

current speed of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. See open for information on determining if a device is attached.

getPosition

public double getPosition(int index)
                   throws PhidgetException

Returns a motor's current position. This is the actual position that the motor is at right now. The valid range is between getPositionMin and getPositionMax.

This value is in degrees.

Parameters:

index - index of the motor

Returns:

current position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the position in unknown. See open for information on determining if a device is attached.

setPosition

public void setPosition(int index,
                        double position)
                 throws PhidgetException

Sets a motor's target position. Use this is set the target position for the servo. If the servo is engaged it will start moving towards this target position. The valid range is between getPositionMin and getPositionMax.

This value is in degrees.

Parameters:

index - index of the motor

position - target position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or position are invalid. See open for information on determining if a device is attached.

getEngaged

public boolean getEngaged(int index)
                   throws PhidgetException

Returns the engaged state of a motor.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

setEngaged

public void setEngaged(int index,
                       boolean state)
                throws PhidgetException

Engage or disengage a motor.

This engages or disengages the servo motor. The motors are by default disengaged when the servo controller is plugged in. When the servo is disengaged, position, velocity, etc. can all be set, but the motor will not start moving until it is engaged. If position is read when a motor is disengaged, it will throw an exception.

This corresponds to a PCM of 0 being sent to the servo.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

getSpeedRampingOn

public boolean getSpeedRampingOn(int index)
                          throws PhidgetException

Returns the speed ramping state of a motor.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

setSpeedRampingOn

public void setSpeedRampingOn(int index,
                              boolean state)
                       throws PhidgetException

Sets the speed ramping state.

Disable speed ramping to disable velocity and acceleration control. With speed ramping disabled, the servo will be sent to the desired position immediately upon receiving the command. This is how the regular Phidget Servo Controller works.

This is turned on by default.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

getCurrent

public double getCurrent(int index)
                  throws PhidgetException

Returns a motor's current usage. The valid range depends on the servo controller. This value is in Amps.

Parameters:

index - index of the motor

Returns:

current usage of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the value is unknown. See open for information on determining if a device is attached.

getStopped

public boolean getStopped(int index)
                   throws PhidgetException

Returns the stopped state of a motor. Use this to determine if the motor is moving and/or up to date with the latest commands you have sent. If this is true, the motor is guaranteed to be stopped and to have processed every command issued. Generally, this would be polled after a target position is set to wait until that position is reached.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

getServoType

public int getServoType(int index)
                 throws PhidgetException

Returns the servo type for an index. The possible values for type are PHIDGET_SERVO_DEFAULT, PHIDGET_SERVO_RAW_us_MODE, PHIDGET_SERVO_HITEC_HS322HD, PHIDGET_SERVO_HITEC_HS5245MG, PHIDGET_SERVO_HITEC_805BB, PHIDGET_SERVO_HITEC_HS422, etc.

Parameters:

index - Input

Returns:

Servo Type

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

setServoType

public void setServoType(int index,
                         int type)
                  throws PhidgetException

Sets the servo type for an index.

This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation. Velocity is also constrained to the maximum speed attainable by the servo.

The possible values for type are PHIDGET_SERVO_DEFAULT, PHIDGET_SERVO_RAW_us_MODE, PHIDGET_SERVO_HITEC_HS322HD, PHIDGET_SERVO_HITEC_HS5245MG, PHIDGET_SERVO_HITEC_805BB, PHIDGET_SERVO_HITEC_HS422, etc.

Support for other servo types can be achieved by using setServoParameters.

The default setting is PHIDGET_SERVO_DEFAULT, which is used for historical (backwards compatibility) reasons.

Parameters:

index - Input

type - Servo Type

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

setServoParameters

public void setServoParameters(int index,
                               double minUs,
                               double maxUs,
                               double degrees,
                               double velocityMax)
                        throws PhidgetException

Sets the servo parameters for a custom servo definition.

This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation. Velocity is also constrained to the maximum speed attainable by the servo.

Parameters:

index - Servo Index

minUs - Minimum PCM supported in microseconds

maxUs - Maximum PCM supported in microseconds

degrees - Degrees of rotation represented by the given PCM range

velocityMax - Maximum supported velocity of the servo in degrees/second

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

addServoPositionChangeListener

public final void addServoPositionChangeListener(ServoPositionChangeListener l)

Adds a position change listener. The position change handler is a method that will be called when the servo position has changed.

There is no limit on the number of position change handlers that can be registered for a particular Phidget.

Parameters:

l - An implemetation of the ServoPositionChangeListener interface

removeServoPositionChangeListener

public final void removeServoPositionChangeListener(ServoPositionChangeListener l)

addServoVelocityChangeListener

public final void addServoVelocityChangeListener(ServoVelocityChangeListener l)

Adds a velocity change listener. The velocity change handler is a method that will be called when the servo velocity has changed.

There is no limit on the number of velocity change handlers that can be registered for a particular Phidget.

Parameters:

l - An implemetation of the ServoVelocityChangeListener interface

removeServoVelocityChangeListener

public final void removeServoVelocityChangeListener(ServoVelocityChangeListener l)

addCurrentChangeListener

public final void addCurrentChangeListener(CurrentChangeListener l)

Adds a current change listener. The current change handler is a method that will be called when the servo current has changed.

There is no limit on the number of current change handlers that can be registered for a particular Phidget.

Note that not all stepper controllers support current sensing.

Parameters:

l - An implemetation of the CurrentChangeListener interface

removeCurrentChangeListener

public final void removeCurrentChangeListener(CurrentChangeListener l)