FtSwarmServo
Servo motors use an internal control electronics to align the servo lever. So the commands are about setting the lever's angle.
Micro Servo (132292)To simplify setting up a servo, we implemented two parameters: position and offset.
- Offset is used to trim a zero-position of your servo levers. It’s the same idea as the trim wheel at the BT Control Set.
- Use position in your application to change the levers angle.
The servo extension port includes a 5V power supply. Take care on polarity: reversing the plug won’t harm the servo, but it won’t work.
Servos are only available on ftSwarm whereby ftSwarm has one and ftSwarmRS has two extension ports.
FtSwarmServo(FtSwarmSerialNumber_t serialNumber, FtSwarmPort_t port)
Constructor to create a FtSwarmServo object. If the referenced controller isn’t connected to the swarm, the firmware will waits until the controller gets online.
- serialNumber: Serial number of the used ftSwarm controller.
- port: FTSWARM_SERVO1 or FTSWARM_SERVO2
FtSwarmServo( const char *name )
Constructor to create a FtSwarmServo object. If the referenced controller isn’t connected to the swarm, the firmware will waits until the controller gets online.
- name: Alias name of the IO port.
void setPosition( int16_t position )
Set the position/angle of the lever.
- position: a value between -256 and 256.
int16_t getPosition()
Returns the position of the lever.
void setOffset( int16_t offset )
Set zero position of the lever. Offset default value is 128 to set a middle zero position.
- offset: a value between 0 and 256.
int16_t getOffset()
Returns the zero offset of the lever.