Files
file	mindensors-servo.h
	Mindsensors NXTServo Sensor Driver.
Defines
#define	NXTSERVO_I2C_ADDR 0xB0
#define	NXTSERVO_CMD 0x41
#define	NXTSERVO_POS_CHAN1 0x42
#define	NXTSERVO_POS_CHAN2 0x44
#define	NXTSERVO_POS_CHAN3 0x46
#define	NXTSERVO_POS_CHAN4 0x48
#define	NXTSERVO_POS_CHAN5 0x4A
#define	NXTSERVO_POS_CHAN6 0x4C
#define	NXTSERVO_POS_CHAN7 0x4E
#define	NXTSERVO_POS_CHAN8 0x50
#define	NXTSERVO_SPEED_CHAN1 0x52
#define	NXTSERVO_SPEED_CHAN2 0x53
#define	NXTSERVO_SPEED_CHAN3 0x54
#define	NXTSERVO_SPEED_CHAN4 0x55
#define	NXTSERVO_SPEED_CHAN5 0x56
#define	NXTSERVO_SPEED_CHAN6 0x57
#define	NXTSERVO_SPEED_CHAN7 0x58
#define	NXTSERVO_SPEED_CHAN8 0x59
#define	NXTSERVO_QPOS_CHAN1 0x42
#define	NXTSERVO_QPOS_CHAN2 0x44
#define	NXTSERVO_QPOS_CHAN3 0x46
#define	NXTSERVO_QPOS_CHAN4 0x48
#define	NXTSERVO_QPOS_CHAN5 0x4A
#define	NXTSERVO_QPOS_CHAN6 0x4C
#define	NXTSERVO_QPOS_CHAN7 0x4E
#define	NXTSERVO_QPOS_CHAN8 0x50
#define	NXTSERVO_MIN_POS 500
#define	NXTSERVO_MAX_POS 2500
#define	NXTSERVO_MID_POS 1500
Functions
bool	NXTServoSetSpeed (tSensors link, ubyte servochan, ubyte speed, ubyte address)
bool	NXTServoSetPos (tSensors link, ubyte servochan, int position, ubyte speed, ubyte address=NXTSERVO_I2C_ADDR)
bool	NXTServoQSetPos (tSensors link, ubyte servochan, ubyte position, byte speed, ubyte address=NXTSERVO_I2C_ADDR)
int	NXTServoReadVoltage (tSensors link, ubyte address=NXTSERVO_I2C_ADDR)
Variables
tByteArray	NXTSERVO_I2CRequest
tByteArray	NXTSERVO_I2CReply

Detailed Description

Servo Controller

Define Documentation

#define NXTSERVO_CMD 0x41

Servo command register

Definition at line 44 of file mindensors-servo.h.

#define NXTSERVO_I2C_ADDR 0xB0

NXT Servo I2C device address

Definition at line 41 of file mindensors-servo.h.

#define NXTSERVO_MAX_POS 2500

Servo maximum pulse width in uS

Definition at line 78 of file mindensors-servo.h.

#define NXTSERVO_MID_POS 1500

Servo centered pulse width in uS

Definition at line 79 of file mindensors-servo.h.

#define NXTSERVO_MIN_POS 500

Some other defines. Servo minimum pulse width in uS

Definition at line 77 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN1 0x42

Servo channel 1 position (low byte)

Definition at line 47 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN2 0x44

Servo channel 2 position (low byte)

Definition at line 48 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN3 0x46

Servo channel 3 position (low byte)

Definition at line 49 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN4 0x48

Servo channel 4 position (low byte)

Definition at line 50 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN5 0x4A

Servo channel 5 position (low byte)

Definition at line 51 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN6 0x4C

Servo channel 6 position (low byte)

Definition at line 52 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN7 0x4E

Servo channel 7 position (low byte)

Definition at line 53 of file mindensors-servo.h.

#define NXTSERVO_POS_CHAN8 0x50

Servo channel 8 position (low byte)

Definition at line 54 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN1 0x42

Servo channel 1 quick position

Definition at line 67 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN2 0x44

Servo channel 2 quick position

Definition at line 68 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN3 0x46

Servo channel 3 quick position

Definition at line 69 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN4 0x48

Servo channel 4 quick position

Definition at line 70 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN5 0x4A

Servo channel 5 quick position

Definition at line 71 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN6 0x4C

Servo channel 6 quick position

Definition at line 72 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN7 0x4E

Servo channel 7 quick position

Definition at line 73 of file mindensors-servo.h.

#define NXTSERVO_QPOS_CHAN8 0x50

Servo channel 8 quick position

Definition at line 74 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN1 0x52

Servo channel 1 speed

Definition at line 57 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN2 0x53

Servo channel 2 speed

Definition at line 58 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN3 0x54

Servo channel 3 speed

Definition at line 59 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN4 0x55

Servo channel 4 speed

Definition at line 60 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN5 0x56

Servo channel 5 speed

Definition at line 61 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN6 0x57

Servo channel 6 speed

Definition at line 62 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN7 0x58

Servo channel 7 speed

Definition at line 63 of file mindensors-servo.h.

#define NXTSERVO_SPEED_CHAN8 0x59

Servo channel 8 speed

Definition at line 64 of file mindensors-servo.h.

Function Documentation

bool NXTServoQSetPos	(	tSensors	link,
		ubyte	servochan,
		ubyte	position,
		byte	speed,
		ubyte	address
	)

Tell the servo to move to the specified position using the specified speed. This uses the Quick Position register which is less accurate. It only accepts values from 50 to 250

Parameters:

link	the NXTServo port number
servochan	the servo channel to use
position	the position to move the servo to
speed	the amount to increase the position by every 24ms
address	the I2C address to use, optional, defaults to 0xB0

Returns:: true if no error occured, false if it did

Definition at line 155 of file mindensors-servo.h.

int NXTServoReadVoltage	(	tSensors	link,
		ubyte	address
	)

Get the voltage level of the battery pack.

Parameters:

link	the NXTServo port number
address	the I2C address to use, optional, defaults to 0xB0

Returns:: the voltage of the battery pack or -1 if an error occurred

Examples:: mindensors-servo-test1.c.

Definition at line 180 of file mindensors-servo.h.

bool NXTServoSetPos	(	tSensors	link,
		ubyte	servochan,
		int	position,
		ubyte	speed,
		ubyte	address
	)

Tell the servo to move to the specified position using the specified speed.

Parameters:

link	the NXTServo port number
servochan	the servo channel to use
position	the position to move the servo to
speed	the amount to increase the position by every 24ms
address	the I2C address to use, optional, defaults to 0xB0

Returns:: true if no error occured, false if it did

Examples:: mindensors-servo-test1.c.

Definition at line 124 of file mindensors-servo.h.

bool NXTServoSetSpeed	(	tSensors	link,
		ubyte	servochan,
		ubyte	speed,
		ubyte	address
	)

Set the speed register for the specified servo. This is the amount to increase the current position by every 24ms when the servo position is changed.

Note: this is an internal function and should not be called directly.

Parameters:

link	the NXTServo port number
servochan	the servo channel to use
speed	the amount to increase the position by every 24ms
address	the I2C address to use, optional, defaults to 0xB0