com.phidgets
Class ServoPhidget

java.lang.Object
  com.phidgets.Phidget
      com.phidgets.ServoPhidget

public final class ServoPhidget

extends Phidget

This class represents a Phidget servo Controller. All methods to control a Servo Controller are implemented in this class.

The Phidget Sevo controller simply outputs varying widths of PWM, which is what most servo motors take as an input driving signal.

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

ServoPhidget()

Method Summary

void	addServoPositionChangeListener(ServoPositionChangeListener l) Adds a servo position change listener.
boolean	getEngaged(int index) Returns the engaged state or a servo.
int	getMotorCount() Returns the number of motors this Phidget can support.
boolean	getMotorOn(int index) Deprecated. Replaced by getEngaged(int)
double	getPosition(int index) Returns the position of a servo motor.
double	getPositionMax(int index) Returns the maximum position that a servo will accept, or return.
double	getPositionMin(int index) Returns the minimum position that a servo will accept, or return.
int	getServoType(int index) Returns the servo type for an index.
void	removeServoPositionChangeListener(ServoPositionChangeListener l)
void	setEngaged(int index, boolean state) Engage or disengage a servo motor.
void	setMotorOn(int index, boolean state) Deprecated. Replaced by setEngaged(int, boolean)
void	setPosition(int index, double position) Sets the position of a servo motor.
void	setServoParameters(int index, double minUs, double maxUs, double degrees) Sets the servo parameters for a custom servo definition.
void	setServoType(int index, int type) Sets the servo type for an index.

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

ServoPhidget

public ServoPhidget()
             throws PhidgetException

Method Detail

getMotorCount

public int getMotorCount()
                  throws PhidgetException

Returns the number of motors this Phidget can support. Note that there is no way of programatically determining how many motors are actaully attached to the board.

Returns:

number of motors

Throws:

PhidgetException

getPosition

public double getPosition(int index)
                   throws PhidgetException

Returns the position of a servo motor. Note that since servo motors do not offer any feedback in their interface, this value is simply whatever the servo was last set to. There is no way of determining the position of a servo that has been plugged in, until it's position has been set. Therefore, if an initial position is important, it should be set as part of initialization.

If the servo is not engaged, the position is unknown and calling this function will throw an exception.

The range here is between getPositionMin and getPositionMax, and corresponds aproximately to an angle in degrees. Note that most servos will not be able to operate accross this entire range.

Parameters:

index - index of the motor

Returns:

current position of the selected 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.

getPositionMax

public double getPositionMax(int index)
                      throws PhidgetException

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

Parameters:

index - Index of the servo

Returns:

Maximum position in degrees

Throws:

PhidgetException - If this Phidget is not opened and attached. 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 will accept, or return.

Parameters:

index - Index of the servo

Returns:

Minimum position in degrees

Throws:

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

setPosition

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

Sets the position of a servo motor.

The range here is between getPositionMin and getPositionMax, and corresponds aproximately to an angle in degrees. Note that most servos will not be able to operate accross this entire range. Typically, the range might be 25 - 180 degrees, but this depends on the servo

Parameters:

index - index of the motor

position - desired position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or position 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 servo motor.

This engages or disengages the servo. The motor is engaged whenever you set a position, use this function to disengage, and reengage without setting a position.

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.

setMotorOn

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

Deprecated. Replaced by setEngaged(int, boolean)

Throws:

PhidgetException

getEngaged

public boolean getEngaged(int index)
                   throws PhidgetException

Returns the engaged state or a 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.

getMotorOn

public boolean getMotorOn(int index)
                   throws PhidgetException

Deprecated. Replaced by getEngaged(int)

Throws:

PhidgetException

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.

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)
                        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.

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

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 servo position change listener. The servo position change handler is a method that will be called when the servo position has changed. The event will get fired after every call to setPosition.

There is no limit on the number of servo 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)