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JavaScript - Servo Bricklet 2.0

This is the description of the JavaScript API bindings for the Servo Bricklet 2.0. General information and technical specifications for the Servo Bricklet 2.0 are summarized in its hardware description.

An installation guide for the JavaScript API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Configuration (Node.js)

Download (ExampleConfiguration.js)

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var Tinkerforge = require('tinkerforge');

var HOST = 'localhost';
var PORT = 4223;
var UID = 'XYZ'; // Change XYZ to the UID of your Servo Bricklet 2.0

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var s = new Tinkerforge.BrickletServoV2(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
        //          and operating angle -100 to 100°
        s.setDegree(0, -10000, 10000);
        s.setPulseWidth(0, 1000, 2000);
        s.setPeriod(0, 19500);
        s.setMotionConfiguration(0, 500000, 1000,
                                 1000); // Full velocity with slow ac-/deceleration


        // Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 to 1.95ms
        //          and operating angle -90 to 90°
        s.setDegree(5, -9000, 9000);
        s.setPulseWidth(5, 950, 1950);
        s.setPeriod(5, 20000);
        s.setMotionConfiguration(5, 500000, 500000,
                                 500000); // Full velocity with full ac-/deceleration

        s.setPosition(0, 10000); // Set to most right position
        s.setEnable(0, true);

        s.setPosition(5, -9000); // Set to most left position
        s.setEnable(5, true);
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        s.setEnable(0, false);
        s.setEnable(5, false);

        ipcon.disconnect();
        process.exit(0);
    }
);

Callback (Node.js)

Download (ExampleCallback.js)

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var Tinkerforge = require('tinkerforge');

var HOST = 'localhost';
var PORT = 4223;
var UID = 'XYZ'; // Change XYZ to the UID of your Servo Bricklet 2.0

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var s = new Tinkerforge.BrickletServoV2(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // Enable position reached callback
        s.setPositionReachedCallbackConfiguration(0, true);

        // Set velocity to 100°/s. This has to be smaller or equal to the
        // maximum velocity of the servo you are using, otherwise the position
        // reached callback will be called too early
        s.setMotionConfiguration(0, 10000, 500000, 500000);
        s.setPosition(0, 9000);
        s.setEnable(0, true);
    }
);

// Register position reached callback
s.on(Tinkerforge.BrickletServoV2.CALLBACK_POSITION_REACHED,
    // Use position reached callback to swing back and forth
    function (servoChannel, position) {
        if(position === 9000) {
            console.log('Position: 90°, going to -90°');
            servo.setPosition(servoChannel, -9000);
        }
        else if(position === -9000) {
            console.log('Position: -90°, going to 90°');
            servo.setPosition(servoChannel, 9000);
        }
        else {
            console.log('Error'); // Can only happen if another program sets position
        }
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        s.setEnable(0, false);

        ipcon.disconnect();
        process.exit(0);
    }
);

Configuration (HTML)

Download (ExampleConfiguration.html), Test (ExampleConfiguration.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>Servo Bricklet 2.0 Configuration Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var s = new Tinkerforge.BrickletServoV2(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
                        //          and operating angle -100 to 100°
                        s.setDegree(0, -10000, 10000);
                        s.setPulseWidth(0, 1000, 2000);
                        s.setPeriod(0, 19500);
                        s.setMotionConfiguration(0, 500000, 1000,
                                                 1000); // Full velocity with slow ac-/deceleration

                
                        // Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 to 1.95ms
                        //          and operating angle -90 to 90°
                        s.setDegree(5, -9000, 9000);
                        s.setPulseWidth(5, 950, 1950);
                        s.setPeriod(5, 20000);
                        s.setMotionConfiguration(5, 500000, 500000,
                                                 500000); // Full velocity with full ac-/deceleration

                        s.setPosition(0, 10000); // Set to most right position
                        s.setEnable(0, true);

                        s.setPosition(5, -9000); // Set to most left position
                        s.setEnable(5, true);
                    }
                );
            }
        </script>
    </body>
</html>

Callback (HTML)

Download (ExampleCallback.html), Test (ExampleCallback.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>Servo Bricklet 2.0 Callback Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var s = new Tinkerforge.BrickletServoV2(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // Enable position reached callback
                        s.setPositionReachedCallbackConfiguration(0, true);

                        // Set velocity to 100°/s. This has to be smaller or equal to the
                        // maximum velocity of the servo you are using, otherwise the position
                        // reached callback will be called too early
                        s.setMotionConfiguration(0, 10000, 500000, 500000);
                        s.setPosition(0, 9000);
                        s.setEnable(0, true);
                    }
                );

                // Register position reached callback
                s.on(Tinkerforge.BrickletServoV2.CALLBACK_POSITION_REACHED,
                    // Use position reached callback to swing back and forth
                    function (servoChannel, position) {
                        if(position === 9000) {
                            textArea.value += 'Position: 90°, going to -90°\n';
                            s.setPosition(servoChannel, -9000);
                        }
                        else if(position === -9000) {
                            textArea.value += 'Position: -90°, going to 90°\n';
                            s.setPosition(servoChannel, 9000);
                        }
                        else {
                            textArea.value += 'Error\n'; // Can only happen if another program sets position
                        }
                        textArea.scrollTop = textArea.scrollHeight;
                    }
                );
            }
        </script>
    </body>
</html>

API

Generally, every function of the JavaScript bindings can take two optional parameters, returnCallback and errorCallback. These are two user defined callback functions. The returnCallback function is called with the results as arguments, if the function returns its results asynchronously. The errorCallback is called with an error code in case of an error. The error code can be one of the following values:

  • IPConnection.ERROR_ALREADY_CONNECTED = 11
  • IPConnection.ERROR_NOT_CONNECTED = 12
  • IPConnection.ERROR_CONNECT_FAILED = 13
  • IPConnection.ERROR_INVALID_FUNCTION_ID = 21
  • IPConnection.ERROR_TIMEOUT = 31
  • IPConnection.ERROR_INVALID_PARAMETER = 41
  • IPConnection.ERROR_FUNCTION_NOT_SUPPORTED = 42
  • IPConnection.ERROR_UNKNOWN_ERROR = 43
  • IPConnection.ERROR_STREAM_OUT_OF_SYNC = 51
  • IPConnection.ERROR_NON_ASCII_CHAR_IN_SECRET = 71
  • IPConnection.ERROR_WRONG_DEVICE_TYPE = 81
  • IPConnection.ERROR_DEVICE_REPLACED = 82
  • IPConnection.ERROR_WRONG_RESPONSE_LENGTH = 83
  • IPConnection.ERROR_INT64_NOT_SUPPORTED = 91

The namespace for the JavaScript bindings is Tinkerforge.*.

Every function of the Servo Brick API that has a servo_channel parameter can address a servo with the servo channel (0 to 9). If it is a setter function then multiple servos can be addressed at once with a bitmask for the servos, if the highest bit is set. For example: 1 will address servo 1, (1 << 1) | (1 << 5) | (1 << 15) will address servos 1 and 5. This allows to set configurations to several servos with one function call. It is guaranteed that the changes will take effect in the same PWM period for all servos you specified in the bitmask.

Basic Functions

new BrickletServoV2(uid, ipcon)
Parameters:
  • uid – Type: string
  • ipcon – Type: IPConnection
Returns:
  • servoV2 – Type: BrickletServoV2

Creates an object with the unique device ID uid:

var servoV2 = new BrickletServoV2("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

BrickletServoV2.getStatus([returnCallback][, errorCallback])
Callback Parameters:
  • enabled – Type: [boolean, ...], Length: 10
  • currentPosition – Type: [int, ...], Length: 10, Unit: 1/100 °, Range: ?
  • currentVelocity – Type: [int, ...], Length: 10, Unit: 1/100 °/s, Range: [0 to 500000]
  • current – Type: [int, ...], Length: 10, Unit: 1 mA, Range: [0 to 216 - 1]
  • inputVoltage – Type: int, Unit: 1 mV, Range: [0 to 216 - 1]
Returns:
  • undefined

Returns the status information of the Servo Bricklet 2.0.

The status includes

  • for each channel if it is enabled or disabled,
  • for each channel the current position,
  • for each channel the current velocity,
  • for each channel the current usage and
  • the input voltage.

Please note that the position and the velocity is a snapshot of the current position and velocity of the servo in motion.

BrickletServoV2.setEnable(servoChannel, enable[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • enable – Type: boolean, Default: false
Callback Parameters:
  • undefined
Returns:
  • undefined

Enables a servo channel (0 to 9). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

BrickletServoV2.getEnabled(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • enable – Type: boolean, Default: false
Returns:
  • undefined

Returns true if the specified servo channel is enabled, false otherwise.

BrickletServoV2.setPosition(servoChannel, position[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • position – Type: int, Unit: 1/100 °, Range: ?
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the position in °/100 for the specified servo channel.

The default range of the position is -9000 to 9000, but it can be specified according to your servo with setDegree().

If you want to control a linear servo or RC brushless motor controller or similar with the Servo Brick, you can also define lengths or speeds with setDegree().

BrickletServoV2.getPosition(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • position – Type: int, Unit: 1/100 °, Range: ?
Returns:
  • undefined

Returns the position of the specified servo channel as set by setPosition().

BrickletServoV2.getCurrentPosition(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • position – Type: int, Unit: 1/100 °, Range: ?
Returns:
  • undefined

Returns the current position of the specified servo channel. This may not be the value of setPosition() if the servo is currently approaching a position goal.

BrickletServoV2.getCurrentVelocity(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 500000]
Returns:
  • undefined

Returns the current velocity of the specified servo channel. This may not be the velocity specified by setMotionConfiguration(). if the servo is currently approaching a velocity goal.

BrickletServoV2.setMotionConfiguration(servoChannel, velocity, acceleration, deceleration[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 500000], Default: 100000
  • acceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000
  • deceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the maximum velocity of the specified servo channel in °/100s as well as the acceleration and deceleration in °/100s²

With a velocity of 0 °/100s the position will be set immediately (no velocity).

With an acc-/deceleration of 0 °/100s² the velocity will be set immediately (no acc-/deceleration).

BrickletServoV2.getMotionConfiguration(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 500000], Default: 100000
  • acceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000
  • deceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000
Returns:
  • undefined

Returns the motion configuration as set by setMotionConfiguration().

BrickletServoV2.setPulseWidth(servoChannel, min, max[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • min – Type: int, Unit: 1 µs, Range: [0 to 232 - 1], Default: 1000
  • max – Type: int, Unit: 1 µs, Range: [0 to 232 - 1], Default: 2000
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the minimum and maximum pulse width of the specified servo channel in µs.

Usually, servos are controlled with a PWM, whereby the length of the pulse controls the position of the servo. Every servo has different minimum and maximum pulse widths, these can be specified with this function.

If you have a datasheet for your servo that specifies the minimum and maximum pulse width, you should set the values accordingly. If your servo comes without any datasheet you have to find the values via trial and error.

Both values have a range from 1 to 65535 (unsigned 16-bit integer). The minimum must be smaller than the maximum.

The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and maximum pulse width.

BrickletServoV2.getPulseWidth(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • min – Type: int, Unit: 1 µs, Range: [0 to 232 - 1], Default: 1000
  • max – Type: int, Unit: 1 µs, Range: [0 to 232 - 1], Default: 2000
Returns:
  • undefined

Returns the minimum and maximum pulse width for the specified servo channel as set by setPulseWidth().

BrickletServoV2.setDegree(servoChannel, min, max[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • min – Type: int, Unit: 1/100 °, Range: [-215 to 215 - 1], Default: -9000
  • max – Type: int, Unit: 1/100 °, Range: [-215 to 215 - 1], Default: 9000
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the minimum and maximum degree for the specified servo channel (by default given as °/100).

This only specifies the abstract values between which the minimum and maximum pulse width is scaled. For example: If you specify a pulse width of 1000µs to 2000µs and a degree range of -90° to 90°, a call of setPosition() with 0 will result in a pulse width of 1500µs (-90° = 1000µs, 90° = 2000µs, etc.).

Possible usage:

  • The datasheet of your servo specifies a range of 200° with the middle position at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
  • You measure a range of 220° on your servo and you don't have or need a middle position. In this case you can set the minimum to 0 and the maximum to 22000.
  • You have a linear servo with a drive length of 20cm, In this case you could set the minimum to 0 and the maximum to 20000. Now you can set the Position with setPosition() with a resolution of cm/100. Also the velocity will have a resolution of cm/100s and the acceleration will have a resolution of cm/100s².
  • You don't care about units and just want the highest possible resolution. In this case you should set the minimum to -32767 and the maximum to 32767.
  • You have a brushless motor with a maximum speed of 10000 rpm and want to control it with a RC brushless motor controller. In this case you can set the minimum to 0 and the maximum to 10000. setPosition() now controls the rpm.

Both values have a possible range from -32767 to 32767 (signed 16-bit integer). The minimum must be smaller than the maximum.

The default values are -9000 and 9000 for the minimum and maximum degree.

BrickletServoV2.getDegree(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • min – Type: int, Unit: 1/100 °, Range: [-215 to 215 - 1], Default: -9000
  • max – Type: int, Unit: 1/100 °, Range: [-215 to 215 - 1], Default: 9000
Returns:
  • undefined

Returns the minimum and maximum degree for the specified servo channel as set by setDegree().

BrickletServoV2.setPeriod(servoChannel, period[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • period – Type: int, Unit: 1 µs, Range: [1 to 1000000], Default: 19500
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the period of the specified servo channel in µs.

Usually, servos are controlled with a PWM. Different servos expect PWMs with different periods. Most servos run well with a period of about 20ms.

If your servo comes with a datasheet that specifies a period, you should set it accordingly. If you don't have a datasheet and you have no idea what the correct period is, the default value (19.5ms) will most likely work fine.

The minimum possible period is 1µs and the maximum is 1000000µs.

The default value is 19.5ms (19500µs).

BrickletServoV2.getPeriod(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • period – Type: int, Unit: 1 µs, Range: [1 to 1000000], Default: 19500
Returns:
  • undefined

Returns the period for the specified servo channel as set by setPeriod().

BrickletServoV2.getServoCurrent(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • current – Type: int, Unit: 1 mA, Range: [0 to 216 - 1]
Returns:
  • undefined

Returns the current consumption of the specified servo channel in mA.

BrickletServoV2.setServoCurrentConfiguration(servoChannel, averagingDuration[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • averagingDuration – Type: int, Unit: 1 ms, Range: [1 to 255], Default: 255
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the averaging duration of the current measurement for the specified servo channel in ms.

BrickletServoV2.getServoCurrentConfiguration(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • averagingDuration – Type: int, Unit: 1 ms, Range: [1 to 255], Default: 255
Returns:
  • undefined

Returns the servo current configuration for the specified servo channel as set by setServoCurrentConfiguration().

BrickletServoV2.setInputVoltageConfiguration(averagingDuration[, returnCallback][, errorCallback])
Parameters:
  • averagingDuration – Type: int, Unit: 1 ms, Range: [1 to 255], Default: 255
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the averaging duration of the input voltage measurement for the specified servo channel in ms.

BrickletServoV2.getInputVoltageConfiguration([returnCallback][, errorCallback])
Callback Parameters:
  • averagingDuration – Type: int, Unit: 1 ms, Range: [1 to 255], Default: 255
Returns:
  • undefined

Returns the input voltage configuration as set by setInputVoltageConfiguration().

BrickletServoV2.getOverallCurrent([returnCallback][, errorCallback])
Callback Parameters:
  • current – Type: int, Unit: 1 mA, Range: [0 to 216 - 1]
Returns:
  • undefined

Returns the current consumption of all servos together in mA.

BrickletServoV2.getInputVoltage([returnCallback][, errorCallback])
Callback Parameters:
  • voltage – Type: int, Unit: 1 mV, Range: [0 to 216 - 1]
Returns:
  • undefined

Returns the input voltage in mV. The input voltage is given via the black power input connector on the Servo Brick.

Advanced Functions

BrickletServoV2.setCurrentCalibration(offset[, returnCallback][, errorCallback])
Parameters:
  • offset – Type: [int, ...], Length: 10, Unit: 1 mA, Range: [-215 to 215 - 1]
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets an offset value (in mA) for each channel.

Note: On delivery the Servo Bricklet 2.0 is already calibrated.

BrickletServoV2.getCurrentCalibration([returnCallback][, errorCallback])
Callback Parameters:
  • offset – Type: [int, ...], Length: 10, Unit: 1 mA, Range: [-215 to 215 - 1]
Returns:
  • undefined

Returns the current calibration as set by setCurrentCalibration().

BrickletServoV2.getSPITFPErrorCount([returnCallback][, errorCallback])
Callback Parameters:
  • errorCountAckChecksum – Type: int, Range: [0 to 232 - 1]
  • errorCountMessageChecksum – Type: int, Range: [0 to 232 - 1]
  • errorCountFrame – Type: int, Range: [0 to 232 - 1]
  • errorCountOverflow – Type: int, Range: [0 to 232 - 1]
Returns:
  • undefined

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,
  • message checksum errors,
  • framing errors and
  • overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

BrickletServoV2.setStatusLEDConfig(config[, returnCallback][, errorCallback])
Parameters:
  • config – Type: int, Range: See constants, Default: 3
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

  • BrickletServoV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletServoV2.STATUS_LED_CONFIG_ON = 1
  • BrickletServoV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletServoV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletServoV2.getStatusLEDConfig([returnCallback][, errorCallback])
Callback Parameters:
  • config – Type: int, Range: See constants, Default: 3
Returns:
  • undefined

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

For config:

  • BrickletServoV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletServoV2.STATUS_LED_CONFIG_ON = 1
  • BrickletServoV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletServoV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletServoV2.getChipTemperature([returnCallback][, errorCallback])
Callback Parameters:
  • temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]
Returns:
  • undefined

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

BrickletServoV2.reset([returnCallback][, errorCallback])
Callback Parameters:
  • undefined
Returns:
  • undefined

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

BrickletServoV2.getIdentity([returnCallback][, errorCallback])
Callback Parameters:
  • uid – Type: string, Length: up to 8
  • connectedUid – Type: string, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'z']
  • hardwareVersion – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • firmwareVersion – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • deviceIdentifier – Type: int, Range: [0 to 216 - 1]
Returns:
  • undefined

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

BrickletServoV2.on(callback_id, function[, errorCallback])
Parameters:
  • callback_id – Type: int
  • function – Type: function
Returns:
  • undefined

Registers the given function with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletServoV2.setPositionReachedCallbackConfiguration(servoChannel, enabled[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9, 215 to 33791]
  • enabled – Type: boolean, Default: false
Callback Parameters:
  • undefined
Returns:
  • undefined

Enable/Disable CALLBACK_POSITION_REACHED callback.

BrickletServoV2.getPositionReachedCallbackConfiguration(servoChannel[, returnCallback][, errorCallback])
Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
Callback Parameters:
  • enabled – Type: boolean, Default: false
Returns:
  • undefined

Returns the callback configuration as set by setPositionReachedCallbackConfiguration().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the on() function of the device object. The first parameter is the callback ID and the second parameter the callback function:

servoV2.on(BrickletServoV2.CALLBACK_EXAMPLE,
    function (param) {
        console.log(param);
    }
);

The available constants with inherent number and type of parameters are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

BrickletServoV2.CALLBACK_POSITION_REACHED
Callback Parameters:
  • servoChannel – Type: int, Range: [0 to 9]
  • position – Type: int, Unit: 1/100 °, Range: ?

This callback is triggered when a position set by setPosition() is reached. If the new position matches the current position then the callback is not triggered, because the servo didn't move. The parameters are the servo and the position that is reached.

You can enable this callback with setPositionReachedCallbackConfiguration().

Note

Since we can't get any feedback from the servo, this only works if the velocity (see setMotionConfiguration()) is set smaller or equal to the maximum velocity of the servo. Otherwise the servo will lag behind the control value and the callback will be triggered too early.

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

BrickletServoV2.getAPIVersion()
Returns:
  • apiVersion – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

BrickletServoV2.getResponseExpected(functionId[, errorCallback])
Parameters:
  • functionId – Type: int, Range: See constants
Returns:
  • responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by setResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • BrickletServoV2.FUNCTION_SET_ENABLE = 2
  • BrickletServoV2.FUNCTION_SET_POSITION = 4
  • BrickletServoV2.FUNCTION_SET_MOTION_CONFIGURATION = 8
  • BrickletServoV2.FUNCTION_SET_PULSE_WIDTH = 10
  • BrickletServoV2.FUNCTION_SET_DEGREE = 12
  • BrickletServoV2.FUNCTION_SET_PERIOD = 14
  • BrickletServoV2.FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
  • BrickletServoV2.FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
  • BrickletServoV2.FUNCTION_SET_CURRENT_CALIBRATION = 23
  • BrickletServoV2.FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
  • BrickletServoV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletServoV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletServoV2.FUNCTION_RESET = 243
  • BrickletServoV2.FUNCTION_WRITE_UID = 248
BrickletServoV2.setResponseExpected(functionId, responseExpected[, errorCallback])
Parameters:
  • functionId – Type: int, Range: See constants
  • responseExpected – Type: boolean
Returns:
  • undefined

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • BrickletServoV2.FUNCTION_SET_ENABLE = 2
  • BrickletServoV2.FUNCTION_SET_POSITION = 4
  • BrickletServoV2.FUNCTION_SET_MOTION_CONFIGURATION = 8
  • BrickletServoV2.FUNCTION_SET_PULSE_WIDTH = 10
  • BrickletServoV2.FUNCTION_SET_DEGREE = 12
  • BrickletServoV2.FUNCTION_SET_PERIOD = 14
  • BrickletServoV2.FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
  • BrickletServoV2.FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
  • BrickletServoV2.FUNCTION_SET_CURRENT_CALIBRATION = 23
  • BrickletServoV2.FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
  • BrickletServoV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletServoV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletServoV2.FUNCTION_RESET = 243
  • BrickletServoV2.FUNCTION_WRITE_UID = 248
BrickletServoV2.setResponseExpectedAll(responseExpected)
Parameters:
  • responseExpected – Type: boolean
Returns:
  • undefined

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

BrickletServoV2.setBootloaderMode(mode[, returnCallback][, errorCallback])
Parameters:
  • mode – Type: int, Range: See constants
Callback Parameters:
  • status – Type: int, Range: See constants
Returns:
  • undefined

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

  • BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

  • BrickletServoV2.BOOTLOADER_STATUS_OK = 0
  • BrickletServoV2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletServoV2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletServoV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletServoV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletServoV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
BrickletServoV2.getBootloaderMode([returnCallback][, errorCallback])
Callback Parameters:
  • mode – Type: int, Range: See constants
Returns:
  • undefined

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

For mode:

  • BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
BrickletServoV2.setWriteFirmwarePointer(pointer[, returnCallback][, errorCallback])
Parameters:
  • pointer – Type: int, Unit: 1 B, Range: [0 to 232 - 1]
Callback Parameters:
  • undefined
Returns:
  • undefined

Sets the firmware pointer for writeFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

BrickletServoV2.writeFirmware(data[, returnCallback][, errorCallback])
Parameters:
  • data – Type: [int, ...], Length: 64, Range: [0 to 255]
Callback Parameters:
  • status – Type: int, Range: [0 to 255]
Returns:
  • undefined

Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

BrickletServoV2.writeUID(uid[, returnCallback][, errorCallback])
Parameters:
  • uid – Type: int, Range: [0 to 232 - 1]
Callback Parameters:
  • undefined
Returns:
  • undefined

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

BrickletServoV2.readUID([returnCallback][, errorCallback])
Callback Parameters:
  • uid – Type: int, Range: [0 to 232 - 1]
Returns:
  • undefined

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants

BrickletServoV2.DEVICE_IDENTIFIER

This constant is used to identify a Servo Bricklet 2.0.

The getIdentity() function and the IPConnection.CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletServoV2.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Servo Bricklet 2.0.