Mathematica - Servo Brick

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

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

Examples

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

Callback

Download (ExampleCallback.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Servo Brick*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
servo=NETNew["Tinkerforge.BrickServo",uid,ipcon]
ipcon@Connect[host,port]

(*Use position reached callback to swing back and forth*)
PositionReachedCB[sender_,servoNum_,position_]:=
 Module[{},
  If[position==9000,
   Print["Position: 90°, going to -90°"];
   sender@SetPosition[servoNum,-9000]
  ];
  If[position==-9000,
   Print["Position: -90°, going to 90°"];
   sender@SetPosition[servoNum,9000]
  ]
 ]

AddEventHandler[servo@PositionReachedCallback,PositionReachedCB]

(*Enable position reached callback*)
servo@EnablePositionReachedCallback[]

(*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*)
servo@SetVelocity[0,10000]
servo@SetPosition[0,9000]
servo@Enable[0]

Input["Click OK to exit"]

(*Clean up*)
servo@Disable[0]
ipcon@Disconnect[]
ReleaseNETObject[servo]
ReleaseNETObject[ipcon]

Configuration

Download (ExampleConfiguration.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Servo Brick*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
servo=NETNew["Tinkerforge.BrickServo",uid,ipcon]
ipcon@Connect[host,port]

(*Configure two servos with voltage 5.5V*)
(*Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms*)
(*         and operating angle -100 to 100°*)
(*Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 *)
(*         to 1.95ms and operating angle -90 to 90°*)
servo@SetOutputVoltage[5500]

servo@SetDegree[0,-10000,10000]
servo@SetPulseWidth[0,1000,2000]
servo@SetPeriod[0,19500]
servo@SetAcceleration[0,1000](*Slow acceleration*)
servo@SetVelocity[0,65535](*Full speed*)

servo@SetDegree[5,-9000,9000]
servo@SetPulseWidth[5,950,1950]
servo@SetPeriod[5,20000]
servo@SetAcceleration[5,65535](*Full acceleration*)
servo@SetVelocity[5,65535](*Full speed*)

servo@SetPosition[0,10000](*Set to most right position*)
servo@Enable[0]

servo@SetPosition[5,-9000](*Set to most left position*)
servo@Enable[5]

Input["Click OK to exit"]

(*Clean up*)
servo@Disable[0]
servo@Disable[5]
ipcon@Disconnect[]
ReleaseNETObject[servo]
ReleaseNETObject[ipcon]

API

Generally, every method of the Mathematica bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since .NET/Link does not support multiple return values directly, we use the out keyword to return multiple values from a method. For further information about the out keyword in .NET/Link see the corresponding Mathematica .NET/Link documentation.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

Every function of the Servo Brick API that has a servo_num parameter can address a servo with the servo number (0 to 6). 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 << 7) will address servos 1 and 5, 0xFF will address all seven servos, etc. 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

BrickServo[uid, ipcon] → servo
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • servo -- NETObject[BrickServo]

Creates an object with the unique device ID uid:

servo=NETNew["Tinkerforge.BrickServo","YOUR_DEVICE_UID",ipcon]

This object can then be used after the IP Connection is connected (see examples above).

The .NET runtime has built-in garbage collection that frees objects that are no longer in use by a program. But because Mathematica can not automatically tell when a Mathematica "program" doesn't use a .NET object anymore, this has to be done by the program. For this the ReleaseNETObject[] function is used in the examples.

For further information about object management in .NET/Link see the corresponding Mathematica .NET/Link documentation.

BrickServo@Enable[servoNum] → Null
Parameters:
  • servoNum -- Integer

Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

BrickServo@Disable[servoNum] → Null
Parameters:
  • servoNum -- Integer

Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a disabled servo will not hold its position if a load is applied.

BrickServo@IsEnabled[servoNum] → enabled
Parameters:
  • servoNum -- Integer
Returns:
  • enabled -- True/False

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

BrickServo@SetPosition[servoNum, position] → Null
Parameters:
  • servoNum -- Integer
  • position -- Integer

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

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[].

BrickServo@GetPosition[servoNum] → position
Parameters:
  • servoNum -- Integer
Returns:
  • position -- Integer

Returns the position of the specified servo as set by SetPosition[].

BrickServo@GetCurrentPosition[servoNum] → position
Parameters:
  • servoNum -- Integer
Returns:
  • position -- Integer

Returns the current position of the specified servo. This may not be the value of SetPosition[] if the servo is currently approaching a position goal.

BrickServo@SetVelocity[servoNum, velocity] → Null
Parameters:
  • servoNum -- Integer
  • velocity -- Integer

Sets the maximum velocity of the specified servo in °/100s. The velocity is accelerated according to the value set by SetAcceleration[].

The minimum velocity is 0 (no movement) and the maximum velocity is 65535. With a value of 65535 the position will be set immediately (no velocity).

The default value is 65535.

BrickServo@GetVelocity[servoNum] → velocity
Parameters:
  • servoNum -- Integer
Returns:
  • velocity -- Integer

Returns the velocity of the specified servo as set by SetVelocity[].

BrickServo@GetCurrentVelocity[servoNum] → velocity
Parameters:
  • servoNum -- Integer
Returns:
  • velocity -- Integer

Returns the current velocity of the specified servo. This may not be the value of SetVelocity[] if the servo is currently approaching a velocity goal.

BrickServo@SetAcceleration[servoNum, acceleration] → Null
Parameters:
  • servoNum -- Integer
  • acceleration -- Integer

Sets the acceleration of the specified servo in °/100s².

The minimum acceleration is 1 and the maximum acceleration is 65535. With a value of 65535 the velocity will be set immediately (no acceleration).

The default value is 65535.

BrickServo@GetAcceleration[servoNum] → acceleration
Parameters:
  • servoNum -- Integer
Returns:
  • acceleration -- Integer

Returns the acceleration for the specified servo as set by SetAcceleration[].

BrickServo@SetOutputVoltage[voltage] → Null
Parameters:
  • voltage -- Integer

Sets the output voltages with which the servos are driven in mV. The minimum output voltage is 2000mV and the maximum output voltage is 9000mV.

Note

We recommend that you set this value to the maximum voltage that is specified for your servo, most servos achieve their maximum force only with high voltages.

The default value is 5000.

BrickServo@GetOutputVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the output voltage as specified by SetOutputVoltage[].

BrickServo@SetPulseWidth[servoNum, min, max] → Null
Parameters:
  • servoNum -- Integer
  • min -- Integer
  • max -- Integer

Sets the minimum and maximum pulse width of the specified servo 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.

BrickServo@GetPulseWidth[servoNum, out min, out max] → Null
Parameters:
  • servoNum -- Integer
  • min -- Integer
  • max -- Integer

Returns the minimum and maximum pulse width for the specified servo as set by SetPulseWidth[].

BrickServo@SetDegree[servoNum, min, max] → Null
Parameters:
  • servoNum -- Integer
  • min -- Integer
  • max -- Integer

Sets the minimum and maximum degree for the specified servo (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.

BrickServo@GetDegree[servoNum, out min, out max] → Null
Parameters:
  • servoNum -- Integer
  • min -- Integer
  • max -- Integer

Returns the minimum and maximum degree for the specified servo as set by SetDegree[].

BrickServo@SetPeriod[servoNum, period] → Null
Parameters:
  • servoNum -- Integer
  • period -- Integer

Sets the period of the specified servo 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 65535µs.

The default value is 19.5ms (19500µs).

BrickServo@GetPeriod[servoNum] → period
Parameters:
  • servoNum -- Integer
Returns:
  • period -- Integer

Returns the period for the specified servo as set by SetPeriod[].

BrickServo@GetServoCurrent[servoNum] → current
Parameters:
  • servoNum -- Integer
Returns:
  • current -- Integer

Returns the current consumption of the specified servo in mA.

BrickServo@GetOverallCurrent[] → current
Returns:
  • current -- Integer

Returns the current consumption of all servos together in mA.

BrickServo@GetStackInputVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the stack input voltage in mV. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

BrickServo@GetExternalInputVoltage[] → voltage
Returns:
  • voltage -- Integer

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

If there is an external input voltage and a stack input voltage, the motors will be driven by the external input voltage. If there is only a stack voltage present, the motors will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motors will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage

Advanced Functions

BrickServo@GetAPIVersion[] → {apiVersion1, apiVersion2, apiVersion3}
Returns:
  • apiVersioni -- Integer

Returns the version of the API definition (major, minor, revision) 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.

BrickServo@GetResponseExpected[functionId] → responseExpected
Parameters:
  • functionId -- Integer
Returns:
  • responseExpected -- True/False

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 send and errors are silently ignored, because they cannot be detected.

See SetResponseExpected[] for the list of function ID constants available for this function.

BrickServo@SetResponseExpected[functionId, responseExpected] → Null
Parameters:
  • functionId -- Integer
  • responseExpected -- True/False

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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • BrickServo`FUNCTIONUENABLE = 1
  • BrickServo`FUNCTIONUDISABLE = 2
  • BrickServo`FUNCTIONUSETUPOSITION = 4
  • BrickServo`FUNCTIONUSETUVELOCITY = 7
  • BrickServo`FUNCTIONUSETUACCELERATION = 10
  • BrickServo`FUNCTIONUSETUOUTPUTUVOLTAGE = 12
  • BrickServo`FUNCTIONUSETUPULSEUWIDTH = 14
  • BrickServo`FUNCTIONUSETUDEGREE = 16
  • BrickServo`FUNCTIONUSETUPERIOD = 18
  • BrickServo`FUNCTIONUSETUMINIMUMUVOLTAGE = 24
  • BrickServo`FUNCTIONUENABLEUPOSITIONUREACHEDUCALLBACK = 29
  • BrickServo`FUNCTIONUDISABLEUPOSITIONUREACHEDUCALLBACK = 30
  • BrickServo`FUNCTIONUENABLEUVELOCITYUREACHEDUCALLBACK = 32
  • BrickServo`FUNCTIONUDISABLEUVELOCITYUREACHEDUCALLBACK = 33
  • BrickServo`FUNCTIONUSETUSPITFPUBAUDRATEUCONFIG = 231
  • BrickServo`FUNCTIONUSETUSPITFPUBAUDRATE = 234
  • BrickServo`FUNCTIONUENABLEUSTATUSULED = 238
  • BrickServo`FUNCTIONUDISABLEUSTATUSULED = 239
  • BrickServo`FUNCTIONURESET = 243
BrickServo@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickServo@SetSPITFPBaudrateConfig[enableDynamicBaudrate, minimumDynamicBaudrate] → Null
Parameters:
  • enableDynamicBaudrate -- True/False
  • minimumDynamicBaudrate -- Integer

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is send/received and decreased linearly if little data is send/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function SetSPITFPBaudrate[]. If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate[] will be used statically.

The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.

By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.

New in version 2.3.4 (Firmware).

BrickServo@GetSPITFPBaudrateConfig[out enableDynamicBaudrate, out minimumDynamicBaudrate] → Null
Parameters:
  • enableDynamicBaudrate -- True/False
  • minimumDynamicBaudrate -- Integer

Returns the baudrate config, see SetSPITFPBaudrateConfig[].

New in version 2.3.4 (Firmware).

BrickServo@GetSendTimeoutCount[communicationMethod] → timeoutCount
Parameters:
  • communicationMethod -- Integer
Returns:
  • timeoutCount -- Integer

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

The following constants are available for this function:

  • BrickServo`COMMUNICATIONUMETHODUNONE = 0
  • BrickServo`COMMUNICATIONUMETHODUUSB = 1
  • BrickServo`COMMUNICATIONUMETHODUSPIUSTACK = 2
  • BrickServo`COMMUNICATIONUMETHODUCHIBI = 3
  • BrickServo`COMMUNICATIONUMETHODURS485 = 4
  • BrickServo`COMMUNICATIONUMETHODUWIFI = 5
  • BrickServo`COMMUNICATIONUMETHODUETHERNET = 6
  • BrickServo`COMMUNICATIONUMETHODUWIFIUV2 = 7

New in version 2.3.2 (Firmware).

BrickServo@SetSPITFPBaudrate[brickletPort, baudrate] → Null
Parameters:
  • brickletPort -- Integer
  • baudrate -- Integer

Sets the baudrate for a specific Bricklet port ('a' - 'd'). The baudrate can be in the range 400000 to 2000000.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see GetSPITFPErrorCount[]) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see SetSPITFPBaudrateConfig[]).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in you applications we recommend to not change the baudrate.

The default baudrate for all ports is 1400000.

New in version 2.3.2 (Firmware).

BrickServo@GetSPITFPBaudrate[brickletPort] → baudrate
Parameters:
  • brickletPort -- Integer
Returns:
  • baudrate -- Integer

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate[].

New in version 2.3.2 (Firmware).

BrickServo@GetSPITFPErrorCount[brickletPort, out errorCountACKChecksum, out errorCountMessageChecksum, out errorCountFrame, out errorCountOverflow] → Null
Parameters:
  • brickletPort -- Integer
  • errorCountACKChecksum -- Integer
  • errorCountMessageChecksum -- Integer
  • errorCountFrame -- Integer
  • errorCountOverflow -- Integer

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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.3.2 (Firmware).

BrickServo@EnableStatusLED[] → Null

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo@DisableStatusLED[] → Null

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo@IsStatusLEDEnabled[] → enabled
Returns:
  • enabled -- True/False

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

BrickServo@GetProtocol1BrickletName[port, out protocolVersion, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out name] → Null
Parameters:
  • port -- Integer
  • protocolVersion -- Integer
  • firmwareVersioni -- Integer
  • name -- String

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

BrickServo@GetChipTemperature[] → temperature
Returns:
  • temperature -- Integer

Returns the temperature in °C/10 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 an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.

BrickServo@Reset[] → Null

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

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

BrickServo@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] → Null
Parameters:
  • uid -- String
  • connectedUid -- String
  • position -- Integer
  • hardwareVersioni -- Integer
  • firmwareVersioni -- Integer
  • deviceIdentifier -- Integer

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

The position can be '0'-'8' (stack position).

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

Callback Configuration Functions

BrickServo@SetMinimumVoltage[voltage] → Null
Parameters:
  • voltage -- Integer

Sets the minimum voltage in mV, below which the UnderVoltageCallback callback is triggered. The minimum possible value that works with the Servo Brick is 5V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

The default value is 5V (5000mV).

BrickServo@GetMinimumVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the minimum voltage as set by SetMinimumVoltage[]

BrickServo@EnablePositionReachedCallback[] → Null

Enables the PositionReachedCallback callback.

Default is disabled.

New in version 2.0.1 (Firmware).

BrickServo@DisablePositionReachedCallback[] → Null

Disables the PositionReachedCallback callback.

Default is disabled.

New in version 2.0.1 (Firmware).

BrickServo@IsPositionReachedCallbackEnabled[] → enabled
Returns:
  • enabled -- True/False

Returns true if PositionReachedCallback callback is enabled, false otherwise.

New in version 2.0.1 (Firmware).

BrickServo@EnableVelocityReachedCallback[] → Null

Enables the VelocityReachedCallback callback.

Default is disabled.

New in version 2.0.1 (Firmware).

BrickServo@DisableVelocityReachedCallback[] → Null

Disables the VelocityReachedCallback callback.

Default is disabled.

New in version 2.0.1 (Firmware).

BrickServo@IsVelocityReachedCallbackEnabled[] → enabled
Returns:
  • enabled -- True/False

Returns true if VelocityReachedCallback callback is enabled, false otherwise.

New in version 2.0.1 (Firmware).

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a function to a callback property of the device object:

MyCallback[sender_,value_]:=Print["Value: "<>ToString[value]]

AddEventHandler[servo@ExampleCallback,MyCallback]

For further information about event handling using .NET/Link see the corresponding Mathematica .NET/Link documentation.

The available callback property and their 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.

event BrickServo@UnderVoltageCallback[sender, voltage]
Parameters:
  • sender -- NETObject[BrickServo]
  • voltage -- Integer

This callback is triggered when the input voltage drops below the value set by SetMinimumVoltage[]. The parameter is the current voltage given in mV.

event BrickServo@PositionReachedCallback[sender, servoNum, position]
Parameters:
  • sender -- NETObject[BrickServo]
  • servoNum -- Integer
  • position -- Integer

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 EnablePositionReachedCallback[].

Note

Since we can't get any feedback from the servo, this only works if the velocity (see SetVelocity[]) 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.

event BrickServo@VelocityReachedCallback[sender, servoNum, velocity]
Parameters:
  • sender -- NETObject[BrickServo]
  • servoNum -- Integer
  • velocity -- Integer

This callback is triggered when a velocity set by SetVelocity[] is reached. The parameters are the servo and the velocity that is reached.

You can enable this callback with EnableVelocityReachedCallback[].

Note

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

Constants

BrickServo`DEVICEUIDENTIFIER

This constant is used to identify a Servo Brick.

The GetIdentity[] function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

BrickServo`DEVICEDISPLAYNAME

This constant represents the human readable name of a Servo Brick.