com.yoctopuce.YoctoAPI

Class YServo

java.lang.Object

com.yoctopuce.YoctoAPI.YFunction

com.yoctopuce.YoctoAPI.YServo

public class YServo
extends YFunction

YServo Class: RC servo motor control interface, available for instance in the Yocto-Servo The YServo class is designed to drive remote-control servo motors outputs. This class allows you not only to move a servo to a given position, but also to specify the time interval in which the move should be performed. This makes it possible to synchronize two servos involved in a same move.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	YServo.TimedReportCallback TimedReportCallback for Servo
static interface	YServo.UpdateCallback Deprecated UpdateCallback for Servo
static class	YServo.YMove

Field Summary

Fields

Modifier and Type	Field and Description
protected int	_enabled
protected int	_enabledAtPowerOn
protected YServo.YMove	_move
protected int	_neutral
protected int	_position
protected int	_positionAtPowerOn
protected int	_range
protected YServo.UpdateCallback	_valueCallbackServo
static int	ENABLED_FALSE invalid enabled value
static int	ENABLED_INVALID
static int	ENABLED_TRUE
static int	ENABLEDATPOWERON_FALSE invalid enabledAtPowerOn value
static int	ENABLEDATPOWERON_INVALID
static int	ENABLEDATPOWERON_TRUE
static YServo.YMove	MOVE_INVALID
static int	NEUTRAL_INVALID invalid neutral value
static int	POSITION_INVALID invalid position value
static int	POSITIONATPOWERON_INVALID invalid positionAtPowerOn value
static int	RANGE_INVALID invalid range value

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction

_advertisedValue, _cacheExpiration, _className, _dataStreams, _func, _funId, _hwId, _lastErrorMsg, _lastErrorType, _logicalName, _serial, _userData, _valueCallbackFunction, _yapi, ADVERTISEDVALUE_INVALID, FUNCTIONDESCRIPTOR_INVALID, LOGICALNAME_INVALID

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	YServo(String func)
protected	YServo(YAPIContext ctx, String func)

Method Summary

Modifier and Type	Method and Description
int	_invokeValueCallback(String value)
protected void	_parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
static YServo	FindServo(String func) Retrieves a RC servo motor for a given identifier.
static YServo	FindServoInContext(YAPIContext yctx, String func) Retrieves a RC servo motor for a given identifier in a YAPI context.
static YServo	FirstServo() Starts the enumeration of RC servo motors currently accessible.
static YServo	FirstServoInContext(YAPIContext yctx) Starts the enumeration of RC servo motors currently accessible.
int	get_enabled() Returns the state of the RC servo motors.
int	get_enabledAtPowerOn() Returns the servo signal generator state at power up.
YServo.YMove	get_move()
int	get_neutral() Returns the duration in microseconds of a neutral pulse for the servo.
int	get_position() Returns the current servo position.
int	get_positionAtPowerOn() Returns the servo position at device power up.
int	get_range() Returns the current range of use of the servo.
int	getEnabled() Returns the state of the RC servo motors.
int	getEnabledAtPowerOn() Returns the servo signal generator state at power up.
int	getNeutral() Returns the duration in microseconds of a neutral pulse for the servo.
int	getPosition() Returns the current servo position.
int	getPositionAtPowerOn() Returns the servo position at device power up.
int	getRange() Returns the current range of use of the servo.
int	move(int target, int ms_duration) Performs a smooth move at constant speed toward a given position.
YServo	nextServo() Continues the enumeration of RC servo motors started using yFirstServo().
int	registerValueCallback(YServo.UpdateCallback callback) Registers the callback function that is invoked on every change of advertised value.
int	set_enabled(int newval) Stops or starts the RC servo motor.
int	set_enabledAtPowerOn(int newval) Configure the servo signal generator state at power up.
int	set_move(YServo.YMove newval)
int	set_neutral(int newval) Changes the duration of the pulse corresponding to the neutral position of the servo.
int	set_position(int newval) Changes immediately the servo driving position.
int	set_positionAtPowerOn(int newval) Configure the servo position at device power up.
int	set_range(int newval) Changes the range of use of the servo, specified in per cents.
int	setEnabled(int newval) Stops or starts the RC servo motor.
int	setEnabledAtPowerOn(int newval) Configure the servo signal generator state at power up.
int	setNeutral(int newval) Changes the duration of the pulse corresponding to the neutral position of the servo.
int	setPosition(int newval) Changes immediately the servo driving position.
int	setPositionAtPowerOn(int newval) Configure the servo position at device power up.
int	setRange(int newval) Changes the range of use of the servo, specified in per cents.

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction

_AddToCache, _clearDataStreamCache, _decode_json_int, _decode_json_string, _download, _escapeAttr, _FindFromCache, _FindFromCacheInContext, _get_json_path_struct, _get_json_path, _is_valid_pass, _json_get_array, _json_get_key, _json_get_string, _parse, _parserHelper, _setAttr, _throw, _UpdateTimedReportCallbackList, _UpdateValueCallbackList, _upload, _upload, _uploadEx, clearCache, describe, errMessage, errorMessage, errorType, errType, FindFunction, FindFunctionInContext, FirstFunction, FirstFunctionInContext, functionDescriptor, get_advertisedValue, get_errorMessage, get_errorType, get_friendlyName, get_functionDescriptor, get_functionId, get_hardwareId, get_logicalName, get_module, get_serialNumber, get_userData, getAdvertisedValue, getErrorMessage, getErrorType, getFriendlyName, getFunctionDescriptor, getFunctionId, getHardwareId, getLogicalName, getModule, getUserData, isOnline, isReadOnly, load, loadAttribute, module, muteValueCallbacks, nextFunction, registerValueCallback, set_advertisedValue, set_logicalName, set_userData, setLogicalName, setUserData, toString, unmuteValueCallbacks, userData

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

POSITION_INVALID

public static final int POSITION_INVALID

invalid position value

See Also:

Constant Field Values

ENABLED_FALSE

public static final int ENABLED_FALSE

invalid enabled value

See Also:

Constant Field Values

ENABLED_TRUE

public static final int ENABLED_TRUE

See Also:

Constant Field Values

ENABLED_INVALID

public static final int ENABLED_INVALID

See Also:

Constant Field Values

RANGE_INVALID

public static final int RANGE_INVALID

invalid range value

See Also:

Constant Field Values

NEUTRAL_INVALID

public static final int NEUTRAL_INVALID

invalid neutral value

See Also:

Constant Field Values

POSITIONATPOWERON_INVALID

public static final int POSITIONATPOWERON_INVALID

invalid positionAtPowerOn value

See Also:

Constant Field Values

ENABLEDATPOWERON_FALSE

public static final int ENABLEDATPOWERON_FALSE

invalid enabledAtPowerOn value

See Also:

Constant Field Values

ENABLEDATPOWERON_TRUE

public static final int ENABLEDATPOWERON_TRUE

See Also:

Constant Field Values

ENABLEDATPOWERON_INVALID

public static final int ENABLEDATPOWERON_INVALID

See Also:

Constant Field Values

MOVE_INVALID

public static final YServo.YMove MOVE_INVALID

_position

protected int _position

_enabled

protected int _enabled

_range

protected int _range

_neutral

protected int _neutral

_move

protected YServo.YMove _move

_positionAtPowerOn

protected int _positionAtPowerOn

_enabledAtPowerOn

protected int _enabledAtPowerOn

_valueCallbackServo

protected YServo.UpdateCallback _valueCallbackServo

Constructor Detail

YServo

protected YServo(YAPIContext ctx,
                 String func)

Parameters:

func - : functionid

YServo

protected YServo(String func)

Parameters:

func - : functionid

Method Detail

_parseAttr

protected void _parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
                   throws Exception

Overrides:

_parseAttr in class YFunction

Throws:

Exception

get_position

public int get_position()
                 throws YAPI_Exception

Returns the current servo position.

Returns:

an integer corresponding to the current servo position

Throws:

YAPI_Exception - on error

getPosition

public int getPosition()
                throws YAPI_Exception

Returns the current servo position.

Returns:

an integer corresponding to the current servo position

Throws:

YAPI_Exception - on error

set_position

public int set_position(int newval)
                 throws YAPI_Exception

Changes immediately the servo driving position.

Parameters:

newval - : an integer corresponding to immediately the servo driving position

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setPosition

public int setPosition(int newval)
                throws YAPI_Exception

Changes immediately the servo driving position.

Parameters:

newval - : an integer corresponding to immediately the servo driving position

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_enabled

public int get_enabled()
                throws YAPI_Exception

Returns the state of the RC servo motors.

Returns:

either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE, according to the state of the RC servo motors

Throws:

YAPI_Exception - on error

getEnabled

public int getEnabled()
               throws YAPI_Exception

Returns the state of the RC servo motors.

Returns:

either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE, according to the state of the RC servo motors

Throws:

YAPI_Exception - on error

set_enabled

public int set_enabled(int newval)
                throws YAPI_Exception

Stops or starts the RC servo motor.

Parameters:

newval - : either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setEnabled

public int setEnabled(int newval)
               throws YAPI_Exception

Stops or starts the RC servo motor.

Parameters:

newval - : either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_range

public int get_range()
              throws YAPI_Exception

Returns the current range of use of the servo.

Returns:

an integer corresponding to the current range of use of the servo

Throws:

YAPI_Exception - on error

getRange

public int getRange()
             throws YAPI_Exception

Returns the current range of use of the servo.

Returns:

an integer corresponding to the current range of use of the servo

Throws:

YAPI_Exception - on error

set_range

public int set_range(int newval)
              throws YAPI_Exception

Changes the range of use of the servo, specified in per cents. A range of 100% corresponds to a standard control signal, that varies from 1 [ms] to 2 [ms], When using a servo that supports a double range, from 0.5 [ms] to 2.5 [ms], you can select a range of 200%. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer corresponding to the range of use of the servo, specified in per cents

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setRange

public int setRange(int newval)
             throws YAPI_Exception

Changes the range of use of the servo, specified in per cents. A range of 100% corresponds to a standard control signal, that varies from 1 [ms] to 2 [ms], When using a servo that supports a double range, from 0.5 [ms] to 2.5 [ms], you can select a range of 200%. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer corresponding to the range of use of the servo, specified in per cents

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_neutral

public int get_neutral()
                throws YAPI_Exception

Returns the duration in microseconds of a neutral pulse for the servo.

Returns:

an integer corresponding to the duration in microseconds of a neutral pulse for the servo

Throws:

YAPI_Exception - on error

getNeutral

public int getNeutral()
               throws YAPI_Exception

Returns the duration in microseconds of a neutral pulse for the servo.

Returns:

an integer corresponding to the duration in microseconds of a neutral pulse for the servo

Throws:

YAPI_Exception - on error

set_neutral

public int set_neutral(int newval)
                throws YAPI_Exception

Changes the duration of the pulse corresponding to the neutral position of the servo. The duration is specified in microseconds, and the standard value is 1500 [us]. This setting makes it possible to shift the range of use of the servo. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer corresponding to the duration of the pulse corresponding to the neutral position of the servo

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setNeutral

public int setNeutral(int newval)
               throws YAPI_Exception

Changes the duration of the pulse corresponding to the neutral position of the servo. The duration is specified in microseconds, and the standard value is 1500 [us]. This setting makes it possible to shift the range of use of the servo. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer corresponding to the duration of the pulse corresponding to the neutral position of the servo

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_move

public YServo.YMove get_move()
                      throws YAPI_Exception

Throws:

YAPI_Exception

set_move

public int set_move(YServo.YMove newval)
             throws YAPI_Exception

Throws:

YAPI_Exception

move

public int move(int target,
                int ms_duration)
         throws YAPI_Exception

Performs a smooth move at constant speed toward a given position.

Parameters:

target - : new position at the end of the move

ms_duration - : total duration of the move, in milliseconds

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_positionAtPowerOn

public int get_positionAtPowerOn()
                          throws YAPI_Exception

Returns the servo position at device power up.

Returns:

an integer corresponding to the servo position at device power up

Throws:

YAPI_Exception - on error

getPositionAtPowerOn

public int getPositionAtPowerOn()
                         throws YAPI_Exception

Returns the servo position at device power up.

Returns:

an integer corresponding to the servo position at device power up

Throws:

YAPI_Exception - on error

set_positionAtPowerOn

public int set_positionAtPowerOn(int newval)
                          throws YAPI_Exception

Configure the servo position at device power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setPositionAtPowerOn

public int setPositionAtPowerOn(int newval)
                         throws YAPI_Exception

Configure the servo position at device power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : an integer

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_enabledAtPowerOn

public int get_enabledAtPowerOn()
                         throws YAPI_Exception

Returns the servo signal generator state at power up.

Returns:

either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE, according to the servo signal generator state at power up

Throws:

YAPI_Exception - on error

getEnabledAtPowerOn

public int getEnabledAtPowerOn()
                        throws YAPI_Exception

Returns the servo signal generator state at power up.

Returns:

either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE, according to the servo signal generator state at power up

Throws:

YAPI_Exception - on error

set_enabledAtPowerOn

public int set_enabledAtPowerOn(int newval)
                         throws YAPI_Exception

Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setEnabledAtPowerOn

public int setEnabledAtPowerOn(int newval)
                        throws YAPI_Exception

Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters:

newval - : either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

FindServo

public static YServo FindServo(String func)

Retrieves a RC servo motor for a given identifier. The identifier can be specified using several formats:

• FunctionLogicalName
• ModuleSerialNumber.FunctionIdentifier
• ModuleSerialNumber.FunctionLogicalName
• ModuleLogicalName.FunctionIdentifier
• ModuleLogicalName.FunctionLogicalName

This function does not require that the RC servo motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YServo.isOnline() to test if the RC servo motor is indeed online at a given time. In case of ambiguity when looking for a RC servo motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name. If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters:

func - : a string that uniquely characterizes the RC servo motor, for instance SERVORC1.servo1.

Returns:

a YServo object allowing you to drive the RC servo motor.

FindServoInContext

public static YServo FindServoInContext(YAPIContext yctx,
                                        String func)

Retrieves a RC servo motor for a given identifier in a YAPI context. The identifier can be specified using several formats:

• FunctionLogicalName
• ModuleSerialNumber.FunctionIdentifier
• ModuleSerialNumber.FunctionLogicalName
• ModuleLogicalName.FunctionIdentifier
• ModuleLogicalName.FunctionLogicalName

This function does not require that the RC servo motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YServo.isOnline() to test if the RC servo motor is indeed online at a given time. In case of ambiguity when looking for a RC servo motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

Parameters:

yctx - : a YAPI context

func - : a string that uniquely characterizes the RC servo motor, for instance SERVORC1.servo1.

Returns:

a YServo object allowing you to drive the RC servo motor.

registerValueCallback

public int registerValueCallback(YServo.UpdateCallback callback)

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a null pointer as argument.

Parameters:

callback - : the callback function to call, or a null pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

_invokeValueCallback

public int _invokeValueCallback(String value)

Overrides:

_invokeValueCallback in class YFunction

nextServo

public YServo nextServo()

Continues the enumeration of RC servo motors started using yFirstServo(). Caution: You can't make any assumption about the returned RC servo motors order. If you want to find a specific a RC servo motor, use Servo.findServo() and a hardwareID or a logical name.

Returns:

a pointer to a YServo object, corresponding to a RC servo motor currently online, or a null pointer if there are no more RC servo motors to enumerate.

FirstServo

public static YServo FirstServo()

Starts the enumeration of RC servo motors currently accessible. Use the method YServo.nextServo() to iterate on next RC servo motors.

Returns:

a pointer to a YServo object, corresponding to the first RC servo motor currently online, or a null pointer if there are none.

FirstServoInContext

public static YServo FirstServoInContext(YAPIContext yctx)

Starts the enumeration of RC servo motors currently accessible. Use the method YServo.nextServo() to iterate on next RC servo motors.

Parameters:

yctx - : a YAPI context.

Returns:

a pointer to a YServo object, corresponding to the first RC servo motor currently online, or a null pointer if there are none.