Class to drive one servo in continuous rotation mode. More...

#include <HkxContRotation.h>

Public Member Functions
	HkxContRotation (uint8_t ID, HkxCommunication &herkXCom, HkxPrint &print)
	Constructor. More...

boolean	tryConnect ()
	Try connect servo. More...

uint8_t	getID () const
	Get the ID. More...

hkxTorqueControl	getTorqueControl () const
	Get torque control. More...

hkxLEDControl	getLEDControl () const
	Get LED control. More...

HkxCommunication &	getCommunication () const
	Get servo communication. More...

boolean	isConnected () const
	Is the servo connected. More...

void	setLEDControlVariable (hkxLEDControl newLEDControl)
	Set the LED variable. More...

boolean	isStopped ()
	Check if the servo stopped. More...

uint8_t	getStatus (HkxStatus &statusED, boolean update)
	Get the status. More...

uint8_t	clearStatus ()
	Clear the status. More...

uint8_t	setTorqueLEDControl (HkxMaybe< hkxTorqueControl > newTorqueControl, HkxMaybe< hkxLEDControl > newLEDControl)
	Set torque actuation and LED colour. More...

uint8_t	moveRotation (int16_t pwm, HkxMaybe< uint16_t > playTime, HkxMaybe< hkxLEDControl > LEDControl)
	Move continuous rotation. More...

uint8_t	getBehaviour (HkxMaybe< uint16_t > inputVoltage, HkxMaybe< uint16_t > temperature, HkxMaybe< int16_t > velocity, HkxMaybe< int16_t > PWM)
	Get the servo behaviour. More...

uint8_t	reboot ()
	Reboot servo. More...

Private Member Functions
uint8_t	updateStatus ()
	Update the status. More...

void	errorPrint (const String &message)
	Print error. More...

void	warningPrint (const String &message)
	Print warning. More...

void	infoPrint (const String &message)
	Print info. More...

Private Attributes
HkxCommunication &	_herkXCom

HkxPrint &	_print

boolean	_connected

const String	_className

uint8_t	_id

hkxTorqueControl	_torqueControl

hkxLEDControl	_ledControl

HkxStatus	_statusED

Detailed Description

Class to drive one servo in continuous rotation mode.

This class allows to drive one servo in continuous rotation mode.

Constructor & Destructor Documentation

HkxContRotation::HkxContRotation	(	uint8_t	ID,
		HkxCommunication &	herkXCom,
		HkxPrint &	print
	)

Constructor.

The constructor of HkxContRotation.

Parameters

[in]	ID	: id of the servo to drive. The value shall be [0 ; 253].
[in]	herkXCom	: Communication with the servos.
[in]	print	: Communication to print messages.

Example:

HkxPrint print = HkxPrint(Serial, 9600); 
HkxCommunication communication = HkxCommunication(HKX_115200, Serial1, print); 
HkxContRotation servo = HkxContRotation(10, communication, print); // ID=10, print can be different to communication

Member Function Documentation

uint8_t HkxContRotation::clearStatus ( )

Clear the status.

Clear the status of the servo to leave the "error state" and stop the LED blink and torque deactivation (see p.33 of the user manual for more details about LED and torque policies).

Warning: If the problem still present (e.g. low input voltage), the servo will switch again to error just after clearing.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
HkxStatus currentStatus;
byte error = servo.getStatus(currentStatus, true);
if(error==0 && currentStatus.isError(HKX_STAT_ALL)){ // check if any error
  servo.clearStatus(); 
}

void HkxContRotation::errorPrint ( const String & message )

inlineprivate

Print error.

Print an error message if setup.

Parameters

[in] message : content to print as an error.

uint8_t HkxContRotation::getBehaviour	(	HkxMaybe< uint16_t >	inputVoltage,
		HkxMaybe< uint16_t >	temperature,
		HkxMaybe< int16_t >	velocity,
		HkxMaybe< int16_t >	PWM
	)

Get the servo behaviour.

Get the current servo behaviour. See the user manual for more details about the parameters.

Parameters

[out]	inputVoltage	: Current servo input voltage. Its value is given in millivolts. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	temperature	: Current temperature of the servo. Its value is given in 10^-2 °C (degree Celsius). This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	velocity	: Current angle velocity of the servo. Its value is given in degree / second. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	PWM	: Current PWM (load) of the servo. Its value is given in PWM (raw). This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected

Example 1: How to get all the values.

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
uint16_t inputVoltage, temperature;
int16_t velocity, PWM;
servo->getBehaviour(&inputVoltage, &temperature, &velocity, &PWM);

Example 2: How to get the current velocity only.

int16_t velocity;

servo->getBehaviour(HKX_NO_VALUE, HKX_NO_VALUE, &velocity, HKX_NO_VALUE);

HkxCommunication& HkxContRotation::getCommunication ( ) const

inline

Get servo communication.

Get the communication of the servo.

Returns: Return the communication.

uint8_t HkxContRotation::getID ( ) const

inline

Get the ID.

Get the ID of the driven servo.

Returns: Return the ID.

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
...
byte idOfMyServo = servo.getID();

hkxLEDControl HkxContRotation::getLEDControl ( ) const

inline

Get LED control.

Get the current LED control (colour) of the driven servo (see hkxLEDControl for more details about the options).

Returns: Return the LED control.

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
hkxLEDControl ledControlOfMyServo = servo.getLEDControl();

uint8_t HkxContRotation::getStatus	(	HkxStatus &	statusED,
		boolean	update
	)

Get the status.

Get the last received status from the servo.

Parameters

[out]	statusED	: Last received status of the servo.
[out]	update	: `true` to update the status, then to get the current status. `false` to get the last received status.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
HkxStatus currentStatus;
byte error = servo.getStatus(currentStatus, true);
if(error==0 && currentStatus.isError(HKX_STAT_VOLTAGE)){ // check voltage error
  print.errorPrint(F("Please check input voltage")); 
}

hkxTorqueControl HkxContRotation::getTorqueControl ( ) const

inline

Get torque control.

Get the current torque control of the driven servo (see hkxTorqueControl for more details about the options).

Returns: Return the torque control

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
hkxTorqueControl torqueControlOfMyServo = servo.getTorqueControl();

void HkxContRotation::infoPrint ( const String & message )

inlineprivate

Print info.

Print an info message if setup.

Parameters

[in] message : content to print as an info.

boolean HkxContRotation::isConnected ( ) const

inline

Is the servo connected.

Return if the servo is connected.

Returns

true: if the servo is connected (last communication worked),
false: if the servo is NOT connected (last communication failed).

boolean HkxContRotation::isStopped ( )

inline

Check if the servo stopped.

Check if the servo is stopped.

Returns

true if the servo is stopped.
false if the servo is still moving.

Example:

... 
HkxPosControl servo = HkxPosControl(10, communication, print);
servo.moveRotation(512, 2000, HKX_NO_VALUE); // move at 512 PWM during 2 seconds
... // different actions done during the movement
while(!servo.isStopped()){} // wait the servo to be stopped

uint8_t HkxContRotation::moveRotation	(	int16_t	pwm,
		HkxMaybe< uint16_t >	playTime,
		HkxMaybe< hkxLEDControl >	LEDControl
	)

Move continuous rotation.

Move the servo in continuous rotation.

Parameters

[in]	pwm	: Torque power to apply. Its value shall be set in PWM within the range [-1023 ; 1023].
[in]	playTime	: Time of the action. Its value shall be set in milliseconds. This parameter is optional, either set a `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	LEDControl	: LED control to apply. This parameter is optional, either set a hkxLEDControl variable, the value (list below), or set `HKX_NO_VALUE` to ignore it. `HKX_LED_OFF`, `HKX_LED_GREEN`, `HKX_LED_BLUE`, `HKX_LED_RED`, `HKX_LED_CYAN`, `HKX_LED_YELLOW`, `HKX_LED_PINK`, `HKX_LED_WHITE`, move.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
servo.move(1200, 1500, HKX_NO_VALUE, true); // move to position 120° in 1.5 seconds and wait arrival 

uint8_t HkxContRotation::reboot ( )

Reboot servo.

Reboot the servo. This action will erase the ram, then reinitialize the parameters with the EEP (ROM) values. Wait some time (> 500 ms) before asking any action from the servo.

Returns: 0 = OK
2 = Servo not connected

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
servo->reboot();
wait(500); // wait for the servo to restart
...

void HkxContRotation::setLEDControlVariable ( hkxLEDControl newLEDControl )

inline

Set the LED variable.

Set the LED variable in the class without applying.

Warning: This member is for HkxGroupPosControl use only.

Parameters

[in] newLEDControl : Colour of the led (see hkxLEDControl for more details).

uint8_t HkxContRotation::setTorqueLEDControl	(	HkxMaybe< hkxTorqueControl >	newTorqueControl,
		HkxMaybe< hkxLEDControl >	newLEDControl
	)

Set torque actuation and LED colour.

Set the torque actuation (hkxTorqueControl for more details) and the LED colour (hkxLEDControl for more details).

Parameters

[in]	newTorqueControl	: Torque control to apply. This parameter is optional, either set a hkxTorqueControl variable, the value (list below), or set `HKX_NO_VALUE` to ignore it. `HKX_TORQUE_FREE:` no resistance to the movements (or let say mechanical resistance only) `HKX_TORQUE_BREAK:` the motor resists but allows the movements `HKX_TORQUE_ON:` the motor maintain its position (don't allow movements)
[in]	newLEDControl	: LED control to apply. This parameter is optional, either set a hkxLEDControl variable, the value (list below), or set `HKX_NO_VALUE` to ignore it. `HKX_LED_OFF`, `HKX_LED_GREEN`, `HKX_LED_BLUE`, `HKX_LED_RED`, `HKX_LED_CYAN`, `HKX_LED_YELLOW`, `HKX_LED_PINK`, `HKX_LED_WHITE`,

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected

Example:

... 
HkxContRotation servo = HkxContRotation(10, communication, print);
servo.setTorqueLEDControl(HKX_LED_GREEN, HKX_NO_VALUE); // set the led to green
servo.setTorqueLEDControl(HKX_LED_WHITE, HKX_TORQUE_BREAK); // set the led to white and the torque to break 

boolean HkxContRotation::tryConnect ( )

Try connect servo.

Try to connect to the servo.

Returns

true: if the servo is connected,
false: if the servo is NOT connected.

uint8_t HkxContRotation::updateStatus ( )

private

Update the status.

Perform a status request to update the stored status _statusED.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

void HkxContRotation::warningPrint ( const String & message )

inlineprivate

Print warning.

Print a warning message if setup.

Parameters

[in] message : content to print as a warning.

Member Data Documentation

const String HkxContRotation::_className

private

Class name to print the messages

boolean HkxContRotation::_connected

private

Connexion with the servo to drive

HkxCommunication& HkxContRotation::_herkXCom

private

Communication with servos

uint8_t HkxContRotation::_id

private

ID of the servo

hkxLEDControl HkxContRotation::_ledControl

private

Current RAM value of the LED of the servo

HkxPrint& HkxContRotation::_print

private

Communication to print messages

HkxStatus HkxContRotation::_statusED

private

Last status received from the servo

hkxTorqueControl HkxContRotation::_torqueControl

private

Current RAM value of the torque control of the servo

The documentation for this class was generated from the following files:

/home/benoit/sketchbook/libraries/HerkuleXLib/HkxContRotation.h
/home/benoit/sketchbook/libraries/HerkuleXLib/HkxContRotation.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation