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| | Can control up to eight standard PWM driven servo's. Supports 8-bit and 16-bit movement resolutions. 'Servo Object' properties allow you to connect the controller to on-screen simulations using the "Servo Motor" component and its derivatives. | | Can control up to eight standard PWM driven servo's. Supports 8-bit and 16-bit movement resolutions. 'Servo Object' properties allow you to connect the controller to on-screen simulations using the "Servo Motor" component and its derivatives. |
| | | | |
| − | ==Component Source Code== | + | ==Detailed description== |
| − | | |
| − | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx]
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| | | | |
| − | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx]
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| | | | |
| − | ==Detailed description==
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| | + | Example showing how to control three servos using AutoMoveToPosion, MoveTopposition & SetPosition component macros.<br> |
| | + | {{Fcfile|Controlling_Servos_Example.fcfx|Controlling Servos Example.fcfx}}<br><br> |
| | | | |
| | + | Example using BL0162 Servo controller for BL0055 Arduino Shield |
| | | | |
| − | ''<span style="color:red;">No additional examples</span>''
| + | Samples the Port D8-D13 (portB) switches and moves the servo motors based on the input states. |
| | | | |
| − | ==Macro reference==
| + | D8 increments motor 0, D9 decrements motor on channel 0. |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | D10 increments motor 1, D11 decrements motor on channel 1. |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo'''
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| − | |-
| |
| − | | colspan="2" | Disables a servo channel effectivly disabling the motor.
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to set the position for. First channel is zero.
| |
| − | |-
| |
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| | | | |
| | + | D12 increments motor 3, D13 decrements motor on channel 2. |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | Connections: |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPosition'''
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| − | |-
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| − | | colspan="2" | Moves directly to the specified position with no interpolation.
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| − | |-
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
| |
| − | |-
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| − | | colspan="2" | The channel to assign the new position. Range: 0-7
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to jump to. Range: 0-255
| |
| − | |-
| |
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| | | | |
| | + | Servo Board Port D0-D2. |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | Switch Board Port D8 - D13 |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt'''
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| − | |-
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| − | | 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.
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
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| − | |-
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| − | | colspan="2" | The channel to assign the new position. Range: 0-7
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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| − | | width="90%" | Position
| |
| − | |-
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| − | | colspan="2" | Target position to move towards. Range: 0-65535
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| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| | | | |
| | + | LCD A0 to A5 (PortC) |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | + | {{Fcfile|BL0162_Servo_BL0055.fcfx|BL0162 Servos Example for BL0055}}<br><br> |
| − | |-
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| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPositionInt'''
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| − | |-
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| − | | colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
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| − | |-
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
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| − | |-
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| − | | colspan="2" | The channel to assign the new position. Range: 0-7
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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| − | | width="90%" | Position
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| − | |-
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| − | | colspan="2" | Position to jump to. Range: 0-65535
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| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |} | |
| | | | |
| | + | ==Macro reference== |
| | | | |
| | + | ===AutoMoveToAngle=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | 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;" | '''AutoMoveToAngle''' |
| | |- | | |- |
| − | | 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. | + | | colspan="2" | Automatically moves towards the new angle at a fixed rate determined by the AutoMoveSpeed. AutoMove not currently supported by ESP32. |
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| | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | | width="90%" | Position | + | | width="90%" | Angle |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-255
| |
| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
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| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
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| − | |-
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| − | | colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.
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| − | |-
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
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| − | |-
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| − | | colspan="2" | The channel to set the position for. First channel is zero.
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Trim
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| | |- | | |- |
| − | | colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 | + | | colspan="2" | Angle in degrees, Range 0 to calibration angle |
| | |- | | |- |
| | | 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-void-icon.png]] - VOID |
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| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===AutoMoveToPosition=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsAutoMoving'''
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| − | |-
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| − | | colspan="2" | Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
| |
| − | |-
| |
| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
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| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt'''
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| − | |-
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| − | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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| − | | width="90%" | Speed
| |
| − | |-
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| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
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| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
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| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsServoAutoMoving'''
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| − | |-
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| − | | colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
| |
| − | |-
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| − | | colspan="2" | Servo Motor Output Range: 0-7
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| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
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| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
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| | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition''' | | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition''' |
| | |- | | |- |
| − | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. | + | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. AutoMove not currently supported by ESP32. |
| | |- | | |- |
| | |- | | |- |
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| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===AutoMoveToPositionInt=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo'''
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| − | |-
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| − | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Channel
| |
| − | |-
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| − | | colspan="2" | The channel to set the position for. First channel is zero.
| |
| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
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| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
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| − | |-
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| − | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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| − | | width="90%" | Speed
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| − | |-
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| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
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| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
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| | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt''' | | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt''' |
| | |- | | |- |
| − | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. | + | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. AutoMove not currently supported by ESP32. |
| | |- | | |- |
| | |- | | |- |
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| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===DisableServo=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
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| − | |-
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| − | | colspan="2" | Sets up the servo motor interrupts
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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| − | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
| − | |}
| |
| − | | |
| − | | |
| − | | |
| − | | |
| − | ==Property reference==
| |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
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| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
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| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
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| − | | width="90%" | Channels (1 - 8)
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| − | |-
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| − | | colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.
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| − | |-
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| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
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| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
| |
| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 0
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 1
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 2
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 3
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 4
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
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| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 5
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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| − | | width="90%" | Channel 6
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 7
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| − | |-
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| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
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| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources
| |
| − | |-
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
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| − | | width="90%" | Peripherals
| |
| − | |-
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| − | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
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| − | | width="90%" | Trim Mode
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| − | |-
| |
| − | | colspan="2" |
| |
| − | |-
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| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 0
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 1
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 2
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 3
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 4
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 5
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 6
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 7
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Minimum (us)
| |
| − | |-
| |
| − | | colspan="2" | Shortest pulse width that will be used.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Maximum (us)
| |
| − | |-
| |
| − | | colspan="2" | Longest pulse width used for the PWM signals.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Period Multiplier
| |
| − | |-
| |
| − | | colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 0
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 1
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 2
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 3
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 4
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 5
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 6
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 7
| |
| − | |-
| |
| − | | 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)).
| |
| − | |}==Macro reference==
| |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 523: |
Line 153: |
| | | | |
| | | | |
| | + | ===EnableServo=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | 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;" | '''EnableServo''' |
| | |- | | |- |
| − | | colspan="2" | Moves directly to the specified position with no interpolation. | + | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. |
| | |- | | |- |
| | |- | | |- |
| Line 534: |
Line 165: |
| | | width="90%" | Channel | | | width="90%" | Channel |
| | |- | | |- |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7 | + | | colspan="2" | The channel to set the position for. First channel is zero. |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to jump to. Range: 0-255
| |
| | |- | | |- |
| | | 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-void-icon.png]] - VOID |
| Line 546: |
Line 172: |
| | | | |
| | | | |
| | + | ===Initialise=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise''' |
| | |- | | |- |
| − | | 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. | + | | colspan="2" | Sets up the servo motor interrupts |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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;" | '''SetPositionInt'''
| |
| − | |-
| |
| − | | colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to jump to. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-255
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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.
| |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Trim
| |
| − | |-
| |
| − | | colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
| |
| | |- | | |- |
| | | 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-void-icon.png]] - VOID |
| Line 638: |
Line 186: |
| | | | |
| | | | |
| | + | ===IsAutoMoving=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 651: |
Line 200: |
| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===IsServoAutoMoving=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt'''
| |
| − | |-
| |
| − | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Speed
| |
| − | |-
| |
| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 687: |
Line 219: |
| | | | |
| | | | |
| | + | ===MoveToAngle=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | 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;" | '''MoveToAngle''' |
| | |- | | |- |
| − | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. | + | | colspan="2" | Moves a single step towards the new angle, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. |
| | |- | | |- |
| | |- | | |- |
| Line 701: |
Line 234: |
| | |- | | |- |
| | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | | width="90%" | Position | + | | width="90%" | Angle |
| | |- | | |- |
| − | | colspan="2" | Position to automatically move to. Range: 0-255 | + | | colspan="2" | Angle in degrees, Range 0 to calibration angle |
| | |- | | |- |
| − | | 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-bool-icon.png]] - BOOL |
| | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| | |} | | |} |
| | | | |
| | | | |
| | + | ===MoveToPosition=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | 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;" | '''MoveToPosition''' |
| | |- | | |- |
| − | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. | + | | 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. |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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 shown in the Servo_Period_Multiplier property.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Speed
| |
| − | |-
| |
| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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;" | '''AutoMoveToPositionInt'''
| |
| − | |-
| |
| − | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to automatically move to. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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
| |
| − | |-
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | | |
| − | | |
| − | ==Property reference==
| |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Channels (1 - 8)
| |
| − | |-
| |
| − | | colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 0
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 1
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 2
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 3
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 4
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 5
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 6
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 7
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
| |
| − | | width="90%" | Peripherals
| |
| − | |-
| |
| − | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim Mode
| |
| − | |-
| |
| − | | colspan="2" |
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 0
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 1
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 2
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 3
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 4
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 5
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 6
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 7
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Minimum (us)
| |
| − | |-
| |
| − | | colspan="2" | Shortest pulse width that will be used.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Maximum (us)
| |
| − | |-
| |
| − | | colspan="2" | Longest pulse width used for the PWM signals.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Period Multiplier
| |
| − | |-
| |
| − | | colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 0
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 1
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 2
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 3
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 4
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 5
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 6
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 7
| |
| − | |-
| |
| − | | 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)).
| |
| − | |}==Macro reference==
| |
| − | | |
| − | {| 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'''
| |
| − | |-
| |
| − | | colspan="2" | Disables a servo channel effectivly disabling the motor.
| |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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'''
| |
| − | |-
| |
| − | | colspan="2" | Moves directly to the specified position with no interpolation.
| |
| | |- | | |- |
| | |- | | |- |
| Line 997: |
Line 260: |
| | | width="90%" | Position | | | width="90%" | Position |
| | |- | | |- |
| − | | colspan="2" | Position to jump to. Range: 0-255 | + | | colspan="2" | Target position to move towards. Range: 0-255 |
| | |- | | |- |
| − | | 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'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| | |} | | |} |
| | | | |
| | | | |
| | + | ===MoveToPositionInt=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 1,027: |
Line 291: |
| | | | |
| | | | |
| | + | ===SetAngle=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPositionInt''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAngle''' |
| | |- | | |- |
| − | | colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. | + | | colspan="2" | Moves the motor straight to the specified angle. Uses the angle property to calculate the correct amount to move. |
| | |- | | |- |
| | |- | | |- |
| Line 1,039: |
Line 304: |
| | |- | | |- |
| | | colspan="2" | The channel to assign the new position. Range: 0-7 | | | colspan="2" | The channel to assign the new position. Range: 0-7 |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to jump to. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-255
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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.
| |
| − | |-
| |
| | |- | | |- |
| | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | | width="90%" | Channel | + | | width="90%" | Angle |
| − | |-
| |
| − | | colspan="2" | The channel to set the position for. First channel is zero.
| |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| + | | colspan="2" | Angle in degrees, Range 0 to calibration angle |
| − | | width="90%" | Trim
| |
| − | |-
| |
| − | | colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 | |
| | |- | | |- |
| | | 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-void-icon.png]] - VOID |
| Line 1,096: |
Line 315: |
| | | | |
| | | | |
| | + | ===SetAutoMoveSpeed=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsAutoMoving''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed''' |
| − | |-
| |
| − | | colspan="2" | Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
| |
| − | |-
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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;" | '''SetAutoMoveSpeedInt'''
| |
| | |- | | |- |
| | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. | | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. |
| | |- | | |- |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT | + | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| | | width="90%" | Speed | | | width="90%" | Speed |
| | |- | | |- |
| Line 1,127: |
Line 334: |
| | | | |
| | | | |
| | + | ===SetAutoMoveSpeedInt=== |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsServoAutoMoving''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt''' |
| − | |-
| |
| − | | colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | Servo Motor Output Range: 0-7
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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'''
| |
| − | |-
| |
| − | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to automatically move to. Range: 0-255
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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.
| |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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 shown in the Servo_Period_Multiplier property. | | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. |
| | |- | | |- |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | + | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT |
| | | width="90%" | Speed | | | width="90%" | Speed |
| | |- | | |- |
| Line 1,204: |
Line 353: |
| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===SetPosition=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt'''
| |
| − | |-
| |
| − | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to automatically move to. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | {| 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
| |
| − | |-
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| − | | |
| − | | |
| − | ==Property reference==
| |
| − | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Channels (1 - 8)
| |
| − | |-
| |
| − | | colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 0
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 1
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 2
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 3
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 4
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 5
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 6
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 7
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
| |
| − | | width="90%" | Peripherals
| |
| − | |-
| |
| − | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim Mode
| |
| − | |-
| |
| − | | colspan="2" |
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 0
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 1
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 2
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 3
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 4
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 5
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 6
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 7
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Minimum (us)
| |
| − | |-
| |
| − | | colspan="2" | Shortest pulse width that will be used.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Maximum (us)
| |
| − | |-
| |
| − | | colspan="2" | Longest pulse width used for the PWM signals.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Period Multiplier
| |
| − | |-
| |
| − | | colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 0
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 1
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 2
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 3
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 4
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 5
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 6
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 7
| |
| − | |-
| |
| − | | 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)).
| |
| − | |}==Macro reference==
| |
| − | | |
| − | {| 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'''
| |
| − | |-
| |
| − | | colspan="2" | Disables a servo channel effectivly disabling the motor.
| |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 1,462: |
Line 377: |
| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===SetPositionInt=== |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt'''
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 1,508: |
Line 401: |
| | | | |
| | | | |
| − | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===SetTrim=== |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Target position to move towards. Range: 0-255
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − | | |
| − | | |
| | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| | |- | | |- |
| Line 1,552: |
Line 423: |
| | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| | |} | | |} |
| − |
| |
| − |
| |
| − | {| 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 servos are still moving. Returns 0 if all servo movement is complete.
| |
| − | |-
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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;" | '''SetAutoMoveSpeedInt'''
| |
| − | |-
| |
| − | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Speed
| |
| − | |-
| |
| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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;" | '''IsServoAutoMoving'''
| |
| − | |-
| |
| − | | colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | Servo Motor Output Range: 0-7
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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'''
| |
| − | |-
| |
| − | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to automatically move to. Range: 0-255
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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.
| |
| − | |-
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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 shown in the Servo_Period_Multiplier property.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Speed
| |
| − | |-
| |
| − | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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;" | '''AutoMoveToPositionInt'''
| |
| − | |-
| |
| − | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
| − | | width="90%" | Channel
| |
| − | |-
| |
| − | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
| − | | width="90%" | Position
| |
| − | |-
| |
| − | | colspan="2" | Position to automatically move to. Range: 0-65535
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| − | {| 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
| |
| − | |-
| |
| − | |-
| |
| − | | 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''
| |
| − | |}
| |
| − |
| |
| − |
| |
| | | | |
| | | | |
| Line 1,714: |
Line 439: |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections | + | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources |
| | |- | | |- |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | + | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]] |
| − | | width="90%" | Channel 0 | + | | width="90%" | Peripherals |
| | |- | | |- |
| − | | colspan="2" | Pin on which to output PWM for the servo motor. | + | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality. |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | + | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| − | | width="90%" | Channel 1 | + | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width |
| | |- | | |- |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | + | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]] |
| − | | width="90%" | Channel 2 | + | | width="90%" | Minimum (us) |
| | |- | | |- |
| − | | colspan="2" | Pin on which to output PWM for the servo motor. | + | | colspan="2" | Shortest pulse width that will be used. |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | + | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]] |
| − | | width="90%" | Channel 3 | + | | width="90%" | Maximum (us) |
| | |- | | |- |
| − | | colspan="2" | Pin on which to output PWM for the servo motor. | + | | colspan="2" | Longest pulse width used for the PWM signals. |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | + | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| − | | width="90%" | Channel 4 | + | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections |
| | |- | | |- |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| | |- | | |- |
| | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] | | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]] |
| − | | width="90%" | Channel 5 | + | | width="90%" | Channel 0 |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 6
| |
| − | |-
| |
| − | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| |
| − | | width="90%" | Channel 7
| |
| | |- | | |- |
| | | colspan="2" | Pin on which to output PWM for the servo motor. | | | colspan="2" | Pin on which to output PWM for the servo motor. |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources | + | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Angle |
| | |- | | |- |
| | |- | | |- |
| − | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]] | + | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]] |
| − | | width="90%" | Peripherals | + | | width="90%" | Angle 0 |
| | |- | | |- |
| − | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality. | + | | colspan="2" | Range of movement in the servo motor to calibrate the Angle component macros. Can be found by measuring the angle between position 0 and position 255. |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| Line 1,779: |
Line 492: |
| | |- | | |- |
| | | 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. | | | 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. |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 1
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 2
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 3
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 4
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 5
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 6
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
| − | | width="90%" | Trim 7
| |
| − | |-
| |
| − | | 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.
| |
| − | |-
| |
| − | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
| − | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
| |
| − | |-
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Minimum (us)
| |
| − | |-
| |
| − | | colspan="2" | Shortest pulse width that will be used.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Maximum (us)
| |
| − | |-
| |
| − | | colspan="2" | Longest pulse width used for the PWM signals.
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
| − | | width="90%" | Period Multiplier
| |
| − | |-
| |
| − | | colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
| |
| | |- | | |- |
| | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] | | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]] |
| Line 1,840: |
Line 499: |
| | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]] | | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]] |
| | | width="90%" | Servo Object 0 | | | width="90%" | Servo Object 0 |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 1
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 2
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 3
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 4
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 5
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 6
| |
| − | |-
| |
| − | | 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)).
| |
| − | |-
| |
| − | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
| − | | width="90%" | Servo Object 7
| |
| | |- | | |- |
| | | 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)). | | | 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)). |
| | |} | | |} |
| | + | |
| | + | ==Component Source Code== |
| | + | |
| | + | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx] |
| | + | |
| | + | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx] |
Controlling Servos Example.fcfx
- BYTE
- VOID
- UINT
- BOOL
