HerkuleXLib
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Arduino library to drive HerkuleX DRS0101 and DRS0201
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Get the servo behaviour Get the current servo behaviour. See the user manuel for more details about the parameters.
[out] | inputVoltage | : Current servo input voltage. Its value is given in millivolts. This parameter is optionnal, 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 Celcius). This parameter is optionnal, 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] | position | : Current relative position of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, 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 optionnal, 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 optionnal, 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] | goalPosition | : Goal position of the current move of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, 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] | trajectoryPosition | : Current trajectory position - desired position at a given time according the trajectory - of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, 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] | trajectoryVelocity | : Current trajectory velocity - desired velocity at a given time according the trajectory - of the servo. Its value is given in degree / second. This parameter is optionnal, either set the address of a uint16_t (or unsigned int ) variable to return the value, or set HKX_NO_VALUE to ignore it. |