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

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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
  
 +
Samples the Port D8-D13 (portB) switches and moves the servo motors based on the input states.
  
 +
D8 increments motor 0, D9 decrements motor on channel 0.
  
 +
D10 increments motor 1, D11 decrements motor on channel 1.
  
−
''<span style="color:red;">No additional examples</span>''
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D12 increments motor 3, D13 decrements motor on channel 2.
  
 +
Connections: 
  
 +
Servo Board Port D0-D2.
  
 +
Switch Board Port D8 - D13
  
 +
LCD A0 to A5 (PortC)
  
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{{Fcfile|BL0162_Servo_BL0055.fcfx|BL0162 Servos Example for BL0055}}<br><br>
  
 
==Macro reference==
 
==Macro reference==
 +
 +
===AutoMoveToPosition===
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| 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;" | '''AutoMoveToPosition'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new position with a fixed rate of 100 steps per second.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
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| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
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| colspan="2" | Position to move to.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
  
 
===DisableServo===
 
===DisableServo===
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−
===SetPosition===
+
===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.&nbsp;
+
| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
 
|-
 
|-
 
|-
 
|-
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| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 
|-
 
|-
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
−
| width="90%" | Position
+
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 
 +
 
 +
===Initialise===
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 +
|-
 +
| colspan="2" | Sets up the servo motor interrupts&nbsp;
 
|-
 
|-
−
| colspan="2" | Target position to move towards.&nbsp;
 
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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−
===SetTrim===
+
===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;" | '''SetTrim'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
 
|-
 
|-
−
| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
+
| colspan="2" | Sets the speed of the auto move to position macro. Default speed is 1.&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Channel
+
| width="90%" | Speed
 
|-
 
|-
−
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
+
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Trim
 
−
|-
 
−
| colspan="2" | 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us&nbsp;
 
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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−
===AutoMoveToPosition===
+
===SetPosition===
 
{| 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;" | '''SetPosition'''
 
|-
 
|-
−
| colspan="2" | Automatically moves towards the new position with a fixed rate of 100 steps per second.&nbsp;
+
| colspan="2" | Moves directly to the specified position with no interpolation.&nbsp;
 
|-
 
|-
 
|-
 
|-
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| width="90%" | Position
 
| width="90%" | Position
 
|-
 
|-
−
| colspan="2" | Position to move to.&nbsp;
+
| colspan="2" | Target position to move towards.&nbsp;
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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−
===EnableServo===
+
===SetTrim===
 
{| 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;" | '''SetTrim'''
 
|-
 
|-
−
| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
+
| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
 
|-
 
|-
 
|-
 
|-
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|-
 
|-
 
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
−
 
−
===SetAutoMoveSpeed===
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
 
−
|-
 
−
| colspan="2" | Sets the speed of the auto move to position macro. Default speed is 1.&nbsp;
 
−
|-
 
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Speed
+
| width="90%" | Trim
 
|-
 
|-
−
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
+
| colspan="2" | 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us&nbsp;
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
−
 
−
 
−
===Initialise===
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 
−
|-
 
−
| colspan="2" | Sets up the servo motor interrupts&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
−
 
  
  

Latest revision as of 11:20, 29 January 2025

Author Matrix TSL
Version 1.0
Category E-blocks 2


Servo Motor component

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

Component Source Code

Please click here to download the component source project: FC_Comp_Source_EBlocks2_Servo_BL0162.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_EBlocks2_Servo_BL0162.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Example showing how to control three servos using AutoMoveToPosion, MoveTopposition & SetPosition component macros.
FC6 Icon.png Controlling Servos Example.fcfx

Example using BL0162 Servo controller for BL0055 Arduino Shield

Samples the Port D8-D13 (portB) switches and moves the servo motors based on the input states.

D8 increments motor 0, D9 decrements motor on channel 0.

D10 increments motor 1, D11 decrements motor on channel 1.

D12 increments motor 3, D13 decrements motor on channel 2.

Connections:

Servo Board Port D0-D2.

Switch Board Port D8 - D13

LCD A0 to A5 (PortC)

FC6 Icon.png BL0162 Servos Example for BL0055

Macro reference

AutoMoveToPosition

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


DisableServo

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


EnableServo

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


Initialise

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


IsAutoMoving

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


MoveToPosition

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


SetAutoMoveSpeed

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


SetPosition

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


SetTrim

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


Property reference

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