Struct ServoBrick

pub struct ServoBrick { /* private fields */ }

Drives up to 7 RC Servos with up to 3A

Implementations

impl ServoBrick

pub const DEVICE_IDENTIFIER: u16 = 14u16

pub const DEVICE_DISPLAY_NAME: &'static str = "Servo Brick"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> ServoBrick

Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.

pub fn get_response_expected( &mut self, fun: ServoBrickFunction, ) -> Result<bool, GetResponseExpectedError>

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by set_response_expected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See set_response_expected for the list of function ID constants available for this function.

pub fn set_response_expected( &mut self, fun: ServoBrickFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError>

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

pub fn set_response_expected_all(&mut self, response_expected: bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

pub fn get_api_version(&self) -> [u8; 3]

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

pub async fn get_under_voltage_callback_receiver( &mut self, ) -> impl Stream<Item = u16>

This receiver is triggered when the input voltage drops below the value set by set_minimum_voltage. The parameter is the current voltage.

pub async fn get_position_reached_callback_receiver( &mut self, ) -> impl Stream<Item = PositionReachedEvent>

This receiver is triggered when a position set by [set_position] is reached. If the new position matches the current position then the receiver is not triggered, because the servo didn’t move. The parameters are the servo and the position that is reached.

You can enable this receiver with [enable_position_reached_callback].

Note

Since we can’t get any feedback from the servo, this only works if the velocity (see [set_velocity]) is set smaller or equal to the maximum velocity of the servo. Otherwise the servo will lag behind the control value and the receiver will be triggered too early.

pub async fn get_velocity_reached_callback_receiver( &mut self, ) -> impl Stream<Item = VelocityReachedEvent>

This receiver is triggered when a velocity set by [set_velocity] is reached. The parameters are the servo and the velocity that is reached.

You can enable this receiver with [enable_velocity_reached_callback].

Note

Since we can’t get any feedback from the servo, this only works if the acceleration (see [set_acceleration]) is set smaller or equal to the maximum acceleration of the servo. Otherwise the servo will lag behind the control value and the receiver will be triggered too early.

pub async fn enable(&mut self, servo_num: u8) -> Result<(), TinkerforgeError>

Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

pub async fn disable(&mut self, servo_num: u8) -> Result<(), TinkerforgeError>

Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a disabled servo will not hold its position if a load is applied.

pub async fn is_enabled( &mut self, servo_num: u8, ) -> Result<bool, TinkerforgeError>

Returns true if the specified servo is enabled, false otherwise.

pub async fn set_position( &mut self, servo_num: u8, position: i16, ) -> Result<(), TinkerforgeError>

Sets the position for the specified servo.

The default range of the position is -9000 to 9000, but it can be specified according to your servo with [set_degree].

If you want to control a linear servo or RC brushless motor controller or similar with the Servo Brick, you can also define lengths or speeds with [set_degree].

pub async fn get_position( &mut self, servo_num: u8, ) -> Result<i16, TinkerforgeError>

Returns the position of the specified servo as set by [set_position].

pub async fn get_current_position( &mut self, servo_num: u8, ) -> Result<i16, TinkerforgeError>

Returns the current position of the specified servo. This may not be the value of [set_position] if the servo is currently approaching a position goal.

pub async fn set_velocity( &mut self, servo_num: u8, velocity: u16, ) -> Result<(), TinkerforgeError>

Sets the maximum velocity of the specified servo. The velocity is accelerated according to the value set by [set_acceleration].

The minimum velocity is 0 (no movement) and the maximum velocity is 65535. With a value of 65535 the position will be set immediately (no velocity).

pub async fn get_velocity( &mut self, servo_num: u8, ) -> Result<u16, TinkerforgeError>

Returns the velocity of the specified servo as set by [set_velocity].

pub async fn get_current_velocity( &mut self, servo_num: u8, ) -> Result<u16, TinkerforgeError>

Returns the current velocity of the specified servo. This may not be the value of [set_velocity] if the servo is currently approaching a velocity goal.

pub async fn set_acceleration( &mut self, servo_num: u8, acceleration: u16, ) -> Result<(), TinkerforgeError>

Sets the acceleration of the specified servo.

The minimum acceleration is 1 and the maximum acceleration is 65535. With a value of 65535 the velocity will be set immediately (no acceleration).

pub async fn get_acceleration( &mut self, servo_num: u8, ) -> Result<u16, TinkerforgeError>

Returns the acceleration for the specified servo as set by [set_acceleration].

pub async fn set_output_voltage( &mut self, voltage: u16, ) -> Result<(), TinkerforgeError>

Sets the output voltages with which the servos are driven.

Note

We recommend that you set this value to the maximum voltage that is specified for your servo, most servos achieve their maximum force only with high voltages.

pub async fn get_output_voltage(&mut self) -> Result<u16, TinkerforgeError>

Returns the output voltage as specified by [set_output_voltage].

pub async fn set_pulse_width( &mut self, servo_num: u8, min: u16, max: u16, ) -> Result<(), TinkerforgeError>

Sets the minimum and maximum pulse width of the specified servo.

Usually, servos are controlled with a PWM__, whereby the length of the pulse controls the position of the servo. Every servo has different minimum and maximum pulse widths, these can be specified with this function.

If you have a datasheet for your servo that specifies the minimum and maximum pulse width, you should set the values accordingly. If your servo comes without any datasheet you have to find the values via trial and error.

The minimum must be smaller than the maximum.

pub async fn get_pulse_width( &mut self, servo_num: u8, ) -> Result<PulseWidth, TinkerforgeError>

Returns the minimum and maximum pulse width for the specified servo as set by [set_pulse_width].

pub async fn set_degree( &mut self, servo_num: u8, min: i16, max: i16, ) -> Result<(), TinkerforgeError>

Sets the minimum and maximum degree for the specified servo (by default given as °/100).

This only specifies the abstract values between which the minimum and maximum pulse width is scaled. For example: If you specify a pulse width of 1000µs to 2000µs and a degree range of -90° to 90°, a call of [set_position] with 0 will result in a pulse width of 1500µs (-90° = 1000µs, 90° = 2000µs, etc.).

Possible usage:

• The datasheet of your servo specifies a range of 200° with the middle position at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
• You measure a range of 220° on your servo and you don’t have or need a middle position. In this case you can set the minimum to 0 and the maximum to 22000.
• You have a linear servo with a drive length of 20cm, In this case you could set the minimum to 0 and the maximum to 20000. Now you can set the Position with [set_position] with a resolution of cm/100. Also the velocity will have a resolution of cm/100s and the acceleration will have a resolution of cm/100s².
• You don’t care about units and just want the highest possible resolution. In this case you should set the minimum to -32767 and the maximum to 32767.
• You have a brushless motor with a maximum speed of 10000 rpm and want to control it with a RC brushless motor controller. In this case you can set the minimum to 0 and the maximum to 10000. [set_position] now controls the rpm.

The minimum must be smaller than the maximum.

pub async fn get_degree( &mut self, servo_num: u8, ) -> Result<Degree, TinkerforgeError>

Returns the minimum and maximum degree for the specified servo as set by [set_degree].

pub async fn set_period( &mut self, servo_num: u8, period: u16, ) -> Result<(), TinkerforgeError>

Sets the period of the specified servo.

Usually, servos are controlled with a PWM__. Different servos expect PWMs with different periods. Most servos run well with a period of about 20ms.

If your servo comes with a datasheet that specifies a period, you should set it accordingly. If you don’t have a datasheet and you have no idea what the correct period is, the default value will most likely work fine.

pub async fn get_period( &mut self, servo_num: u8, ) -> Result<u16, TinkerforgeError>

Returns the period for the specified servo as set by [set_period].

pub async fn get_servo_current( &mut self, servo_num: u8, ) -> Result<u16, TinkerforgeError>

Returns the current consumption of the specified servo.

pub async fn get_overall_current(&mut self) -> Result<u16, TinkerforgeError>

Returns the current consumption of all servos together.

pub async fn get_stack_input_voltage(&mut self) -> Result<u16, TinkerforgeError>

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

pub async fn get_external_input_voltage( &mut self, ) -> Result<u16, TinkerforgeError>

Returns the external input voltage. The external input voltage is given via the black power input connector on the Servo Brick.

If there is an external input voltage and a stack input voltage, the motors will be driven by the external input voltage. If there is only a stack voltage present, the motors will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motors will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage

pub async fn set_minimum_voltage( &mut self, voltage: u16, ) -> Result<(), TinkerforgeError>

Sets the minimum voltage, below which the [get_under_voltage_callback_receiver] receiver is triggered. The minimum possible value that works with the Servo Brick is 5V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

pub async fn get_minimum_voltage(&mut self) -> Result<u16, TinkerforgeError>

Returns the minimum voltage as set by [set_minimum_voltage]

pub async fn enable_position_reached_callback( &mut self, ) -> Result<(), TinkerforgeError>

Enables the [get_position_reached_callback_receiver] receiver.

Default is disabled.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn disable_position_reached_callback( &mut self, ) -> Result<(), TinkerforgeError>

Disables the [get_position_reached_callback_receiver] receiver.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn is_position_reached_callback_enabled( &mut self, ) -> Result<bool, TinkerforgeError>

Returns true if [get_position_reached_callback_receiver] receiver is enabled, false otherwise.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn enable_velocity_reached_callback( &mut self, ) -> Result<(), TinkerforgeError>

Enables the [get_velocity_reached_callback_receiver] receiver.

Default is disabled.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn disable_velocity_reached_callback( &mut self, ) -> Result<(), TinkerforgeError>

Disables the [get_velocity_reached_callback_receiver] receiver.

Default is disabled.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn is_velocity_reached_callback_enabled( &mut self, ) -> Result<bool, TinkerforgeError>

Returns true if [get_velocity_reached_callback_receiver] receiver is enabled, false otherwise.

.. versionadded:: 2.0.1$nbsp;(Firmware)

pub async fn set_spitfp_baudrate_config( &mut self, enable_dynamic_baudrate: bool, minimum_dynamic_baudrate: u32, ) -> Result<(), TinkerforgeError>

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function [set_spitfp_baudrate]. If the dynamic baudrate is disabled, the baudrate as set by [set_spitfp_baudrate] will be used statically.

.. versionadded:: 2.3.4$nbsp;(Firmware)

pub async fn get_spitfp_baudrate_config( &mut self, ) -> Result<SpitfpBaudrateConfig, TinkerforgeError>

Returns the baudrate config, see [set_spitfp_baudrate_config].

.. versionadded:: 2.3.4$nbsp;(Firmware)

pub async fn get_send_timeout_count( &mut self, communication_method: u8, ) -> Result<u32, TinkerforgeError>

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

.. versionadded:: 2.3.2$nbsp;(Firmware)

Associated constants:

• SERVO_BRICK_COMMUNICATION_METHOD_NONE
• SERVO_BRICK_COMMUNICATION_METHOD_USB
• SERVO_BRICK_COMMUNICATION_METHOD_SPI_STACK
• SERVO_BRICK_COMMUNICATION_METHOD_CHIBI
• SERVO_BRICK_COMMUNICATION_METHOD_RS485
• SERVO_BRICK_COMMUNICATION_METHOD_WIFI
• SERVO_BRICK_COMMUNICATION_METHOD_ETHERNET
• SERVO_BRICK_COMMUNICATION_METHOD_WIFI_V2

pub async fn set_spitfp_baudrate( &mut self, bricklet_port: char, baudrate: u32, ) -> Result<(), TinkerforgeError>

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see [get_spitfp_error_count]) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see [set_spitfp_baudrate_config]).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

.. versionadded:: 2.3.2$nbsp;(Firmware)

pub async fn get_spitfp_baudrate( &mut self, bricklet_port: char, ) -> Result<u32, TinkerforgeError>

Returns the baudrate for a given Bricklet port, see [set_spitfp_baudrate].

.. versionadded:: 2.3.2$nbsp;(Firmware)

pub async fn get_spitfp_error_count( &mut self, bricklet_port: char, ) -> Result<SpitfpErrorCount, TinkerforgeError>

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

• ACK checksum errors,
• message checksum errors,
• framing errors and
• overflow errors.

The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

.. versionadded:: 2.3.2$nbsp;(Firmware)

pub async fn enable_status_led(&mut self) -> Result<(), TinkerforgeError>

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn disable_status_led(&mut self) -> Result<(), TinkerforgeError>

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn is_status_led_enabled(&mut self) -> Result<bool, TinkerforgeError>

Returns true if the status LED is enabled, false otherwise.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub async fn get_protocol1_bricklet_name( &mut self, port: char, ) -> Result<Protocol1BrickletName, TinkerforgeError>

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

pub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

pub async fn reset(&mut self) -> Result<(), TinkerforgeError>

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

pub async fn write_bricklet_plugin( &mut self, port: char, offset: u8, chunk: &[u8; 32], ) -> Result<(), TinkerforgeError>

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub async fn read_bricklet_plugin( &mut self, port: char, offset: u8, ) -> Result<Box<[u8; 32]>, TinkerforgeError>

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>

Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from ‘0’ (bottom) to ‘8’ (top).

The device identifier numbers can be found here. |device_identifier_constant|

Trait Implementations

impl Clone for ServoBrick

fn clone(&self) -> ServoBrick

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.