ServoCds55 Struct Reference

[SPI] This is used to communicate with the smart servo shield
        Don't use manually More...

#include <eagle_ServoCds55.h>

Public Member Functions
	ServoCds55 (int CS=10)
	The constructor. More...
void	begin ()
	begin the communication and setup SPI More...
void	WritePos (int ID, int Pos)
	Moves a Servo to a certain position. More...
void	write (int ID, int Pos)
	Moves a Servo to a certain position. More...
void	setVelocity (int velocity)
	Sets the default speed of servos. More...
void	setPoslimit (int posLimit)
	Sets the position limits for the servos. More...
void	rotate (int ID, int velocity)
	makes nothing More...
void	SetServoLimit (int ID, int upperLimit)
	(probably) set the posLimit for only one servo (will be overwritten by write() => writePos()) More...
void	SetMotormode (int ID, int velocity)
	(probably) set the velocity of only one Servo More...
void	SetID (int ID, int newID)
	change the ID of a special Servo More...
void	Reset (int ID)
	resets a servo More...
byte	sendWait (const byte what)
	sends data. This is used internally and shouldnt be used! More...

Public Attributes
int	velocity_temp
	stores the posLimit value send with write() More...
int	upperLimit_temp
	stores the posLimit value send with write() More...
optVAL_t	cs
	stores the posLimit value send with write() More...

Detailed Description

[SPI] This is used to communicate with the smart servo shield
        Don't use manually

Author

EagleoutIce

Warning

[COPY&PASTE] use SoccerBoard, DynamixelBoard and I2CInOut !

this code is for internal use only and shouldnt be used otherwise

Copyright

This code is based on the offical library [https://github.com/leffhub/ServoCds55 (undocumented :/)] cheers! [COPY&PASTE] [SPI] You can use this class like this:

_servoHandler.write(0,150); //will move servo id 0 to pos 150 [standard limit is 300]

[SPI] You can use this class like this:

//in setup:
_servoHandler.begin();
//... in code:
_servoHandler.write(0,150); //will move servo id 0 to pos 150 [standard limit is 300]

Definition at line 40 of file eagle_ServoCds55.h.

Constructor & Destructor Documentation

ServoCds55()

ServoCds55::ServoCds55

(

int

CS = 10

)

The constructor.

Note

There should be only the already created _servoHandler.

This class isn't static!

Member Function Documentation

begin()

void ServoCds55::begin

(

)

begin the communication and setup SPI

Reset()

void ServoCds55::Reset

(

int

ID

)

resets a servo

Parameters

ID	the target ID of the Servo

rotate()

void ServoCds55::rotate	(	int	ID,
		int	velocity
	)

makes nothing

sendWait()

byte ServoCds55::sendWait

(

const byte

what

)

sends data. This is used internally and shouldnt be used!

Parameters

what	the byte to send

Returns

feedback of SPI.transfer();

SetID()

void ServoCds55::SetID	(	int	ID,
		int	newID
	)

change the ID of a special Servo

Parameters

ID	the target ID of the Servo
newID	the newID of the Servo

Warning

using this may result in a total failure of the program... pls no what you're doing!

SetMotormode()

void ServoCds55::SetMotormode	(	int	ID,
		int	velocity
	)

(probably) set the velocity of only one Servo

Parameters

ID	the target ID of the Servo
velocity	(probably) the speed for a specific servo

Warning

could do something different... lack of documentation

setPoslimit()

void ServoCds55::setPoslimit

(

int

posLimit

)

Sets the position limits for the servos.

Parameters

posLimit

the new positionLimit

Attention

the values are neither clamped nor masked!

SetServoLimit()

void ServoCds55::SetServoLimit	(	int	ID,
		int	upperLimit
	)

(probably) set the posLimit for only one servo (will be overwritten by write() => writePos())

Parameters

ID	the target ID of the Servo
upperLimit	(probably) the upperLimit for a specific servo

Warning

could do something different... lack of documentation

setVelocity()

void ServoCds55::setVelocity

(

int

velocity

)

Sets the default speed of servos.

Parameters

velocity

the new speed value...

write()

void ServoCds55::write	(	int	ID,
		int	Pos
	)

Moves a Servo to a certain position.

Parameters

ID	the target ID of the Servo
Pos	the target position of the Servo

WritePos()

void ServoCds55::WritePos	(	int	ID,
		int	Pos
	)

Moves a Servo to a certain position.

Parameters

ID	the target ID of the Servo
Pos	the target position of the Servo

Note

don't use this function... use write() instead

Member Data Documentation

cs

optVAL_t ServoCds55::cs

stores the posLimit value send with write()

Definition at line 118 of file eagle_ServoCds55.h.

upperLimit_temp

int ServoCds55::upperLimit_temp

stores the posLimit value send with write()

Definition at line 116 of file eagle_ServoCds55.h.

velocity_temp

int ServoCds55::velocity_temp

stores the posLimit value send with write()

Definition at line 114 of file eagle_ServoCds55.h.

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

• eBoard/source/eagle_ServoCds55.h