Difference between revisions of "Component: Servo Motor (BL0162) (E-blocks 2)"

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| width="20%" style="color: gray;" | Author
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| width="20%" style="color:gray;" | Author
 
| Matrix TSL
 
| Matrix TSL
 
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| width="20%" style="color: gray;" | Version
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| width="20%" style="color:gray;" | Version
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| 1.0 (Release)
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| 1.0
 
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| width="20%" style="color: gray;" | Category
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| width="20%" style="color:gray;" | Category
 
| E-blocks 2
 
| E-blocks 2
 
|}
 
|}
  
  
 +
==Servo Motor component==
 +
Servo motor component to drive the E-blocks 2 BL0162 Servo Motors board. Provides up to eight individually addressable connections for standard DC servo motors to be connected.
  
−
==[[File:Component Icon bc8ae960_3887_4d08_ac7c_1eedb8e5f6c8.png|Image]] Servo Motor (BL0162) component==
+
==Component Source Code==
−
Servo motor component to drive the E-blocks 2 BL0162 Servo Motors board.
 
−
Provides up to eight individually addressable connections for standard DC servo motors to be connected.
 
  
−
There are component macros in flowcode which allow you to set the level of trim for each servo channel, and to move it to a certain position. Before you can allow the servo to connect you must use the initialise macro in the program and also the ‘EnableServo’ to specify which servo you are communicating with. There is also a ‘DisableServo’ macro you can use to disable a servo channel again.
+
Please click here for the component source code: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_EBlocks2_Servo_BL0162.fcfx FC_Comp_Source_EBlocks2_Servo_BL0162.fcfx]
  
−
Make sure the channels are all connected to the correct port and pin, the port will correspond to the port the servo motor is connected to on the E-blocks 2 upstream board you are using.
+
==Detailed description==
 +
 
 +
''No detailed description exists yet for this component''
  
 
==Examples==
 
==Examples==
 +
 +
 
''<span style="color:red;">No additional examples</span>''
 
''<span style="color:red;">No additional examples</span>''
  
Line 29: Line 31:
 
==Downloadable macro reference==
 
==Downloadable macro reference==
  
−
===<span style="font-weight: normal;"><u><tt>DisableServo</tt></u></span>===
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
Disables a servo channel effectivly disabling the motor.
+
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo'''
 +
|-
 +
| colspan="2" | Disables a servo channel effectivly disabling the motor.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
'''Parameters'''
 
  
−
:[[Variable Types|BYTE]] ''Channel''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
::The channel to set the position for.  First channel is zero.
+
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPosition'''
 +
|-
 +
| colspan="2" | Moves directly to the specified position with no interpolation.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Target position to move towards.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
−
'''Return value'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsAutoMoving'''
 +
|-
 +
| colspan="2" | Is the AutoMoveToPosition movement complete. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This call does not return a value''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPosition'''
 +
|-
 +
| colspan="2" | Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Target position to move towards.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
===<span style="font-weight: normal;"><u><tt>SetPosition</tt></u></span>===
 
−
Moves directly to the specified position with no interpolation.
 
  
−
'''Parameters'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
 +
|-
 +
| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Trim
 +
|-
 +
| colspan="2" | 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:[[Variable Types|BYTE]] ''Channel''
 
−
::The channel to set the position for.  First channel is zero.
 
  
−
:[[Variable Types|BYTE]] ''Position''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
::Target position to move towards.
+
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new position with a fixed rate of 100 steps per second.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to move to.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
−
'''Return value'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo'''
 +
|-
 +
| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This call does not return a value''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
 +
|-
 +
| colspan="2" | Sets the speed of the auto move to position macro. Default speed is 1.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Speed
 +
|-
 +
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
===<span style="font-weight: normal;"><u><tt>IsAutoMoving</tt></u></span>===
 
−
Is the AutoMoveToPosition movement complete.
 
  
−
Returns 1 if the servo is still moving.
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 +
|-
 +
| colspan="2" | Sets up the servo motor interrupts&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
Returns 0 if the servo movement is complete.
 
  
−
'''Parameters'''
 
−
 
−
:''This macro has no parameters''
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:[[Variable Types|BYTE]]
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>MoveToPosition</tt></u></span>===
 
−
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
 
−
 
−
'''Parameters'''
 
−
 
−
:[[Variable Types|BYTE]] ''Channel''
 
−
::The channel to set the position for.  First channel is zero.
 
−
 
−
:[[Variable Types|BYTE]] ''Position''
 
−
::Target position to move towards.
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:[[Variable Types|BYTE]] : 1 = reached target, 0 = target not reached.
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>SetTrim</tt></u></span>===
 
−
Allows the level of trim for each servo channel to be adjusted progmatically.
 
−
 
−
'''Parameters'''
 
−
 
−
:[[Variable Types|BYTE]] ''Channel''
 
−
::The channel to set the position for.  First channel is zero.
 
−
 
−
:[[Variable Types|BYTE]] ''Trim''
 
−
::0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:''This call does not return a value''
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>AutoMoveToPosition</tt></u></span>===
 
−
Automatically moves towards the new position with a fixed rate of 100 steps per second.
 
−
 
−
'''Parameters'''
 
−
 
−
:[[Variable Types|BYTE]] ''Channel''
 
−
::The channel to set the position for.  First channel is zero.
 
−
 
−
:[[Variable Types|BYTE]] ''Position''
 
−
::Position to move to.
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:''This call does not return a value''
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>EnableServo</tt></u></span>===
 
−
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
 
−
 
−
'''Parameters'''
 
−
 
−
:[[Variable Types|BYTE]] ''Channel''
 
−
::The channel to set the position for.  First channel is zero.
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:''This call does not return a value''
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>SetAutoMoveSpeed</tt></u></span>===
 
−
Sets the speed of the auto move to position macro.
 
−
 
−
Default speed is 1.
 
−
 
−
'''Parameters'''
 
−
 
−
:[[Variable Types|BYTE]] ''Speed''
 
−
::1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:''This call does not return a value''
 
−
 
−
 
−
===<span style="font-weight: normal;"><u><tt>Initialise</tt></u></span>===
 
−
Sets up the servo motor interrupts
 
−
 
−
'''Parameters'''
 
−
 
−
:''This macro has no parameters''
 
−
 
−
 
−
'''Return value'''
 
−
 
−
:''This call does not return a value''
 
−
 
−
 
−
 
−
==Simulation macro reference==
 
−
 
−
''This component does not contain any simulation macros''
 
  
  
 
==Property reference==
 
==Property reference==
−
<span style="font-weight: normal;"><u>Channels (1 - 8)</u></span>
 
  
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::Channel_Count''.
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
 
+
|-
−
Set the number of servo's that you need to control.
+
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
−
 
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
−
Value from 1 to 8.
+
|-
−
 
+
|-
−
<span style="font-weight: normal;"><u>Channel 0</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Channels (1 - 8)
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin0''.
+
|-
−
 
+
| colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.&nbsp;
−
Pin on which to output PWM for the servo motor.
+
|-
−
 
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
<span style="font-weight: normal;"><u>Channel 1</u></span>
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin1''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
Pin on which to output PWM for the servo motor.
+
| width="90%" | Channel 0
−
 
+
|-
−
<span style="font-weight: normal;"><u>Channel 2</u></span>
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin2''.
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Channel 1
−
Pin on which to output PWM for the servo motor.
+
|-
−
 
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
<span style="font-weight: normal;"><u>Channel 3</u></span>
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin3''.
+
| width="90%" | Channel 2
−
 
+
|-
−
Pin on which to output PWM for the servo motor.
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Channel 4</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Channel 3
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin4''.
+
|-
−
 
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
Pin on which to output PWM for the servo motor.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
<span style="font-weight: normal;"><u>Channel 5</u></span>
+
| width="90%" | Channel 4
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin5''.
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
 
+
|-
−
Pin on which to output PWM for the servo motor.
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Channel 5
−
<span style="font-weight: normal;"><u>Channel 6</u></span>
+
|-
−
 
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin6''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
Pin on which to output PWM for the servo motor.
+
| width="90%" | Channel 6
−
 
+
|-
−
<span style="font-weight: normal;"><u>Channel 7</u></span>
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Servo_Controller1::pin7''.
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Channel 7
−
Pin on which to output PWM for the servo motor.
+
|-
−
 
+
| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
−
<span style="font-weight: normal;"><u>Minimum (us)</u></span>
+
|-
−
 
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
This property is of type ''Unsigned integer'' and can be referenced with the variable name ''Servo_Controller1::min_pulse_width''.
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
−
 
+
|-
−
Shortest pulse width that will be used.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
−
<span style="font-weight: normal;"><u>Maximum (us)</u></span>
+
| width="90%" | Minimum (us)
−
 
+
|-
−
This property is of type ''Unsigned integer'' and can be referenced with the variable name ''Servo_Controller1::max_pulse_width''.
+
| colspan="2" | Shortest pulse width that will be used.&nbsp;
−
 
+
|-
−
Longest pulse width used for the PWM signals.
+
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
−
 
+
| width="90%" | Maximum (us)
−
<span style="font-weight: normal;"><u>Trim 0</u></span>
+
|-
−
 
+
| colspan="2" | Longest pulse width used for the PWM signals.&nbsp;
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim0''.
+
|-
−
 
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
−
 
+
|-
−
input values will produce the same degree of movement.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
<span style="font-weight: normal;"><u>Trim 1</u></span>
+
| width="90%" | Trim 0
−
 
+
|-
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim1''.
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
 
+
|-
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Trim 1
−
input values will produce the same degree of movement.
+
|-
−
 
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
<span style="font-weight: normal;"><u>Trim 2</u></span>
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim2''.
+
| width="90%" | Trim 2
−
 
+
|-
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
 
+
|-
−
input values will produce the same degree of movement.
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Trim 3
−
<span style="font-weight: normal;"><u>Trim 3</u></span>
+
|-
−
 
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim3''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
| width="90%" | Trim 4
−
 
+
|-
−
input values will produce the same degree of movement.
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Trim 4</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Trim 5
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim4''.
+
|-
−
 
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
input values will produce the same degree of movement.
+
| width="90%" | Trim 6
−
 
+
|-
−
<span style="font-weight: normal;"><u>Trim 5</u></span>
+
| colspan="2" | Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
 
+
|-
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim5''.
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Trim 7
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
|-
−
 
+
| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
−
input values will produce the same degree of movement.
+
|-
−
 
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
<span style="font-weight: normal;"><u>Trim 6</u></span>
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
−
 
+
|-
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim6''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
| width="90%" | Show Servo Interface
−
 
+
|-
−
input values will produce the same degree of movement.
+
| colspan="2" | &nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Trim 7</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Servo Object 0
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Servo_Controller1::trim7''.
+
|-
−
 
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
input values will produce the same degree of movement.
+
| width="90%" | Servo Object 1
−
 
+
|-
−
<span style="font-weight: normal;"><u>Servo Object 0</u></span>
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
 
+
|-
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim0''.
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Servo Object 2
−
Drag a servo motor component onto the System Panel, and then select it here, to create
+
|-
−
 
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
an on screen simulation of the way that your flowchart moves the servo's.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
+
| width="90%" | Servo Object 3
−
 
+
|-
−
set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Servo Object 1</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Servo Object 4
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim1''.
+
|-
−
 
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
Drag a servo motor component onto the System Panel, and then select it here, to create
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
an on screen simulation of the way that your flowchart moves the servo's.
+
| width="90%" | Servo Object 5
−
 
+
|-
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
 
+
|-
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Servo Object 6
−
<span style="font-weight: normal;"><u>Servo Object 2</u></span>
+
|-
−
 
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim2''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
Drag a servo motor component onto the System Panel, and then select it here, to create
+
| width="90%" | Servo Object 7
−
 
+
|-
−
an on screen simulation of the way that your flowchart moves the servo's.
+
| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
−
 
+
|}
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 
−
 
 
−
<span style="font-weight: normal;"><u>Servo Object 3</u></span>
 
−
 
 
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim3''.
 
−
 
 
−
Drag a servo motor component onto the System Panel, and then select it here, to create
 
−
 
 
−
an on screen simulation of the way that your flowchart moves the servo's.
 
−
 
 
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 
−
 
 
−
<span style="font-weight: normal;"><u>Servo Object 4</u></span>
 
−
 
 
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim4''.
 
−
 
 
−
Drag a servo motor component onto the System Panel, and then select it here, to create
 
−
 
 
−
an on screen simulation of the way that your flowchart moves the servo's.
 
−
 
 
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 
−
 
 
−
<span style="font-weight: normal;"><u>Servo Object 5</u></span>
 
−
 
 
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim5''.
 
−
 
 
−
Drag a servo motor component onto the System Panel, and then select it here, to create
 
−
 
 
−
an on screen simulation of the way that your flowchart moves the servo's.
 
−
 
 
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 
−
 
 
−
<span style="font-weight: normal;"><u>Servo Object 6</u></span>
 
−
 
 
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim6''.
 
−
 
 
−
Drag a servo motor component onto the System Panel, and then select it here, to create
 
−
 
 
−
an on screen simulation of the way that your flowchart moves the servo's.
 
−
 
 
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 
−
 
 
−
<span style="font-weight: normal;"><u>Servo Object 7</u></span>
 
−
 
 
−
This property is of type ''Panel object'' and can be referenced with the variable name ''Servo_Controller1::sim7''.
 
−
 
 
−
Drag a servo motor component onto the System Panel, and then select it here, to create
 
−
 
 
−
an on screen simulation of the way that your flowchart moves the servo's.
 
−
 
 
−
Servo motors should be based on the 'Servo Motor Base' component, or use a custom component
 
−
 
 
−
set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).
 

Revision as of 14:40, 16 January 2023

Author Matrix TSL
Version 1.0
Category E-blocks 2


Servo Motor component

Servo motor component to drive the E-blocks 2 BL0162 Servo Motors board. Provides up to eight individually addressable connections for standard DC servo motors to be connected.

Component Source Code

Please click here for the component source code: FC_Comp_Source_EBlocks2_Servo_BL0162.fcfx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples


Downloadable macro reference

Fc9-comp-macro.png DisableServo
Disables a servo channel effectivly disabling the motor. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png SetPosition
Moves directly to the specified position with no interpolation. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Position
Target position to move towards. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete. 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Position
Target position to move towards. 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Trim
0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png AutoMoveToPosition
Automatically moves towards the new position with a fixed rate of 100 steps per second. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Position
Position to move to. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is 1. 
Fc9-u8-icon.png - BYTE Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Initialise
Sets up the servo motor interrupts 
Fc9-void-icon.png - VOID Return



Property reference

Fc9-prop-icon.png Properties
Fc9-type-16-icon.png Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8. 
Fc9-conn-icon.png Connections
Fc9-type-5-icon.png Channel 0
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 1
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 2
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 3
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 4
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 5
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 6
Pin on which to output PWM for the servo motor. 
Fc9-type-5-icon.png Channel 7
Pin on which to output PWM for the servo motor. 
Fc9-conn-icon.png Pulse Width
Fc9-type-21-icon.png Minimum (us)
Shortest pulse width that will be used. 
Fc9-type-21-icon.png Maximum (us)
Longest pulse width used for the PWM signals. 
Fc9-conn-icon.png Trim
Fc9-type-16-icon.png Trim 0
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 1
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 2
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 3
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 4
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 5
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 6
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-type-16-icon.png Trim 7
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement. 
Fc9-conn-icon.png Simulation
Fc9-type-7-icon.png Show Servo Interface
 
Fc9-type-17-icon.png Servo Object 0
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 1
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 2
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 3
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 4
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 5
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 6
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
Fc9-type-17-icon.png Servo Object 7
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)). 
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