BlueSense::ServoDevice Class Reference

Inheritance diagram for BlueSense::ServoDevice:

List of all members.

Public Types
enum	PortEnum
Public Member Functions
	ServoDevice (Master master, ushort deviceId)
void	requestSetAngles (byte relevantAngles, byte[] angles)
void	requestSetAngle (PortEnum port, byte angle)
void	requestGetAngles ()
void	getPendingAngles (byte[] angles)
byte	getPendingAngle (PortEnum port)
bool	getRequestSetAnglesDone ()
byte	getCurrentAngle (PortEnum port)
void	getCurrentAngles (byte[] angleArray)
void	requestSetConfiguration (byte offset)
void	requestGetConfiguration ()
bool	getRequestSetConfigDone ()
bool	getRequestGetConfigDone ()
bool	configPending ()
byte	getCurrentOffset ()
uint	getTimeOutUs ()
void	setTimeOutUs (uint timeOutUs)
Static Public Attributes
static byte	SERVOCOUNT = (byte)bluesense.BLUESENSE_SERVOCONTROLLER_SERVOCOUNT

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Detailed Description

Interface to the Servo device BM7004.

The BM7004 can be used to control upto 8 servo motors. Via software you can control the angle.

Author:

Dinne Bosman

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Member Enumeration Documentation

enum BlueSense::ServoDevice::PortEnum

Enum describing the servo motor output ports

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Constructor & Destructor Documentation

BlueSense::ServoDevice::ServoDevice (  Master  master, ushort  deviceId )  [inline]

Creates a 'software' servo device proxy with a given id. The device will inacessible until a physical device with the same id is detected. Parameters: master  deviceId

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Member Function Documentation

bool BlueSense::ServoDevice::configPending (   )  [inline]

Checks if a configuration is being currently being set or being retrieved Returns: true if busy, false if done

byte BlueSense::ServoDevice::getCurrentAngle (  PortEnum  port  )  [inline]

Returns the current set angle of a specific servo. Parameters: port  the port pin of the servo. Must lie between 0 and BLUESENSE_SERVOCONTROLLER_SERVOCOUNT. See also: PortEnum Returns: the angle of the servo.

void BlueSense::ServoDevice::getCurrentAngles (  byte[]  angleArray  )  [inline]

Fills an array with the current set angles. Parameters: angleArray  a pointer to an array of uint8_t angles with enough space for all servos. See also: SERVOCOUNT

byte BlueSense::ServoDevice::getCurrentOffset (   )  [inline]

Returns the current set offset configuration parameter Returns: The offset. The offset allows you to disposition the pwm duty cycle so as to fine tune the position of the servos.

byte BlueSense::ServoDevice::getPendingAngle (  PortEnum  port  )  [inline]

Returns the angle of a specific servo, which is currently underway to the device Parameters: port  the output port. See also: PortEnum Returns: the angle to be set on the servo.

void BlueSense::ServoDevice::getPendingAngles (  byte[]  angles  )  [inline]

Fills an array with angles which are currently underway to the device Parameters: angles  a pointer to an array of uint8_t angles with enough space for all servos. See also: SERVOCOUNT

bool BlueSense::ServoDevice::getRequestGetConfigDone (   )  [inline]

Checks if the configuration request is finished Returns: true if configuration was retrieved, false if still busy

bool BlueSense::ServoDevice::getRequestSetAnglesDone (   )  [inline]

Checks if the angle set request is finished Returns: true if request finished, false if request still busy

bool BlueSense::ServoDevice::getRequestSetConfigDone (   )  [inline]

Checks if the configuration set request is finished Returns: true if request finished, false if request still busy

uint BlueSense::ServoDevice::getTimeOutUs (   )  [inline]

Returns the current set time out delay. The time out delay is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Returns: the time out value in microseconds.

void BlueSense::ServoDevice::requestGetAngles (   )  [inline]

Sends a request to retrieve the current set angles

void BlueSense::ServoDevice::requestGetConfiguration (   )  [inline]

Request to obtain the configuration settings from a adcInput Device.

void BlueSense::ServoDevice::requestSetAngle (  PortEnum  port, byte  angle )  [inline]

Requests the servo device to set one of its servos to a new angle Parameters: port  the output port. See also: PortEnum Parameters: angle  an uint8_t representing the new angle of the servo. Note that each angle is value between 0 and 255, the actual physical angle depends on the specifications of the connected servo.

void BlueSense::ServoDevice::requestSetAngles (  byte  relevantAngles, byte[]  angles )  [inline]

Requests the servo device to set its servos to new angles Parameters: relevantAngles  a bit mask indicating which servos to update angles  a pointer to an array of uint8_t angles with enough space for all servos. See also: SERVOCOUNT Only those angles for which a bit in the bit mask is set will be sent to the device. Note that each angle is value between 0 and 255, the actual physical angle depends on the specifications of the connected servo.

void BlueSense::ServoDevice::requestSetConfiguration (  byte  offset  )  [inline]

Requests to set the configuration of a servo device. Parameters: offset  allows you to disposition the pwm duty cycle so as to fine tune the position of the servos.

void BlueSense::ServoDevice::setTimeOutUs (  uint  timeOutUs  )  [inline]

Sets the time out value which is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Parameters: timeOutUs  the value in microseconds which is the maximum duraion between a request and its answer.

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Member Data Documentation

byte BlueSense::ServoDevice::SERVOCOUNT = (byte)bluesense.BLUESENSE_SERVOCONTROLLER_SERVOCOUNT [static]

The number of servos that can be controlled

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

• ServoDevice.cs

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