Difference between revisions of "Component: Servo Controller Mod (Mechatronics)"

Latest revision as of 13:12, 7 February 2023

Author	Matrix Ltd
Version	1.5
Category	Mechatronics

Servo Controller Mod component

Can control up to eight standard PWM driven servo's. 'Servo Object' properties allow you to connect the controller to on-screen simulations using the "Servo Motor" component and its derivatives.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_Servo_Controller_Mod.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_Servo_Controller_Mod.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Importing from v5

The servo component in Flowcode v6 onwards has a new Initialise macro which will need to be added to your program before any other calls to the servo motor component are made.

Controlling a servo with an analogue input

This example reads the value of the analogue potentiometer and uses this to set the position of the servo motor. Servo Example 1 The Servo controller is linked to the standard servo component but this could be linked to any object on the panel.

Creating a multi-axis actuator using servo motors

This example links two servo motors together using panel primitive objects and groups. Servo Example 2 The Servo controller can handle up to 8 motors and is used to control both of the standard servo components on the panel.

Macro reference

AutoMoveToPosition

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

DisableServo

	DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

EnableServo

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

Initialise

	Initialise
Sets up the servo motor interrupts
- VOID	Return

IsAutoMoving

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Return

MoveToPosition

	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.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Position
Target position to move towards.
- BYTE	Return

SetAutoMoveSpeed

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

SetPosition

	SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Position
Target position to move towards.
- VOID	Return

SetTrim

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

Property reference

	Properties
	Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8.
	Connections
	Channel 0
Pin on which to output PWM for the servo motor.
	Trim
	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.
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used.
	Maximum (us)
Longest pulse width used for the PWM signals.
	Simulation
	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)).

@@ Line 96: / Line 96: @@
 [[File:LinkedServo.jpg]]
@@ Line 103: / Line 109: @@
 ==Macro reference==
-===DisableServo===
+===AutoMoveToPosition===
 {| 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;" | '''DisableServo'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition'''
 |-
-| colspan="2" | Disables a servo channel effectivly disabling the motor.&nbsp;
+| colspan="2" | Automatically moves towards the new position with a fixed rate of 100 steps per second.&nbsp;
 |-
 |-
@@ Line 116: / Line 122: @@
 |-
 | 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
@@ Line 122: / Line 133: @@
-===SetPosition===
+===DisableServo===
 {| 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;" | '''SetPosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo'''
 |-
-| colspan="2" | Moves directly to the specified position with no interpolation.&nbsp;
+| colspan="2" | Disables a servo channel effectivly disabling the motor.&nbsp;
 |-
 |-
@@ Line 135: / Line 146: @@
 |-
 | 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
@@ Line 146: / Line 152: @@
-===MoveToPosition===
+===EnableServo===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo'''
 |-
-| 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;
+| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
 |-
 |-
@@ Line 160: / Line 166: @@
 | 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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| 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''
 |}
-===SetTrim===
+===Initialise===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 |-
-| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
+| colspan="2" | Sets up the servo motor interrupts&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
@@ Line 208: / Line 199: @@
-===AutoMoveToPosition===
+===MoveToPosition===
 {| 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;" | '''AutoMoveToPosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPosition'''
 |-
-| colspan="2" | Automatically moves towards the new position with a fixed rate of 100 steps per second.&nbsp;
+| 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;
 |-
 |-
@@ Line 225: / Line 216: @@
 | width="90%" | Position
 |-
-| colspan="2" | Position to move to.&nbsp;
+| 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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===EnableServo===
+===SetAutoMoveSpeed===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
 |-
-| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
+| 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%" | Channel
+| width="90%" | Speed
 |-
-| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
+| 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
@@ Line 251: / Line 242: @@
-===SetAutoMoveSpeed===
+===SetPosition===
 {| 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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPosition'''
+|-
+| colspan="2" | Moves directly to the specified position with no interpolation.&nbsp;
+|-
 |-
-| 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%" | 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%" | Speed
+| width="90%" | Position
 |-
-| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
+| colspan="2" | Target position to move towards.&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 270: / Line 266: @@
-===Initialise===
+===SetTrim===
 {| 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'''
+| 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;
 |-
-| colspan="2" | Sets up the servo motor interrupts&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''
 |}