mindensors-servo.h File Reference

Mindsensors NXTServo Sensor Driver. More...

#include "common.h"

Go to the source code of this file.

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

Mindsensors NXTServo Sensor Driver.

mindensors-servo.h provides an API for the Mindsensors NXTServo Sensor

Changelog:

• 0.1: Initial release

Credits:

• Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.

License: You may use this code as you wish, provided you give credit where its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

30 September 2009

Version:

0.1

Definition in file mindensors-servo.h.