Driver for Me Smart Servo device. More...

#include <src/MeSmartServo.h>

Inheritance diagram for MeSmartServo:

[legend]

Collaboration diagram for MeSmartServo:

[legend]

Public Member Functions
	MeSmartServo ()

	MeSmartServo (uint8_t port)

uint8_t	readByte (uint8_t *argv, int16_t idx)

short	readShort (uint8_t *argv, int16_t idx, boolean ignore_high)

float	readFloat (uint8_t *argv, int16_t idx)

long	readLong (uint8_t *argv, int idx)

uint8_t	sendByte (uint8_t val)

uint8_t	sendShort (int16_t val, boolean ignore_high)

uint8_t	sendFloat (float val)

uint8_t	sendLong (long val)

boolean	assignDevIdRequest (void)

boolean	moveTo (uint8_t dev_id, long angle_value, float speed, smartServoCb callback=NULL)

boolean	move (uint8_t dev_id, long angle_value, float speed, smartServoCb callback=NULL)

boolean	setZero (uint8_t dev_id)

boolean	setBreak (uint8_t dev_id, uint8_t breakStatus)

boolean	setRGBLed (uint8_t dev_id, uint8_t r_value, uint8_t g_value, uint8_t b_value)

boolean	handSharke (uint8_t dev_id)

boolean	setPwmMove (uint8_t dev_id, int16_t pwm_value)

boolean	setInitAngle (uint8_t dev_id, uint8_t=0, int16_t=40)

long	getAngleRequest (uint8_t devId)

float	getSpeedRequest (uint8_t devId)

float	getVoltageRequest (uint8_t devId)

float	getTempRequest (uint8_t devId)

float	getCurrentRequest (uint8_t devId)

void	assignDevIdResponse (void *arg)

void	errorCodeCheckResponse (void *arg)

void	smartServoCmdResponse (void *arg)

void	processSysexMessage (void)

void	smartServoEventHandle (void)

Public Member Functions inherited from MeSerial
	MeSerial (void)

	MeSerial (uint8_t port)

	MeSerial (uint8_t receivePin, uint8_t transmitPin, bool inverse_logic=false)

void	setHardware (bool mode)

void	begin (long baudrate)

size_t	write (uint8_t byte)

int	read ()

int	available ()

int16_t	poll (void)

void	end (void)

bool	listen (void)

bool	isListening (void)

void	sendString (char *str)

void	printf (char *fmt,...)

boolean	dataLineAvailable (void)

String	readDataLine (void)

String	concatenateWith (String s1, String s2)

char	letterOf (int i, String s)

int	stringLength (String s)

boolean	equalString (String s1, String s2)

float	getValue (String key)

Public Member Functions inherited from MePort
	MePort (void)

	MePort (uint8_t port)

	MePort (uint8_t port, uint8_t slot)

uint8_t	getPort (void)

uint8_t	getSlot (void)

bool	dRead1 (uint8_t mode=INPUT)

bool	dRead2 (uint8_t mode=INPUT)

bool	dpRead1 (void)

bool	dpRead2 (void)

void	dWrite1 (bool value)

void	dWrite2 (bool value)

int16_t	aRead1 (void)

int16_t	aRead2 (void)

void	aWrite1 (int16_t value)

void	aWrite2 (int16_t value)

void	reset (uint8_t port)

void	reset (uint8_t port, uint8_t slot)

uint8_t	pin1 (void)

uint8_t	pin2 (void)

uint8_t	pin (void)

uint8_t	pin (uint8_t port, uint8_t slot)

Public Member Functions inherited from SoftwareSerial
	SoftwareSerial (uint8_t receivePin, uint8_t transmitPin, bool inverse_logic=false)

void	begin (long speed)

bool	listen ()

void	end ()

bool	isListening ()

bool	stopListening ()

bool	overflow ()

int	peek ()

virtual void	flush ()

	operator bool ()

Additional Inherited Members
Static Public Member Functions inherited from SoftwareSerial
static void	handle_interrupt () __attribute__((__always_inline__))

Protected Attributes inherited from MeSerial
bool	_hard

bool	_polling

bool	_scratch

int16_t	_bitPeriod

int16_t	_byte

long	_lastTime

char	buffer [64]

String	lastLine

int	bufferIndex

Protected Attributes inherited from MePort
uint8_t	s1

uint8_t	s2

uint8_t	_port

uint8_t	_slot

Detailed Description

Driver for Me Smart Servo device.

Class: MeSmartServo

Description: Declaration of Class MeSmartServo.

Copyright (C), 2012-2016, MakeBlock

Constructor & Destructor Documentation

◆ MeSmartServo() [1/2]

MeSmartServo::MeSmartServo ( )

Alternate Constructor which can call your own function to map the Me Smart Servo to arduino port, no pins are used or initialized here.

Parameters

[in] None

◆ MeSmartServo() [2/2]

MeSmartServo::MeSmartServo ( uint8_t port )

Alternate Constructor which can call your own function to map the Me Smart Servo to arduino port, If the hardware serial was selected, it will used the hardware serial.

Parameters

[in] port - RJ25 port from PORT_1 to M2

Alternate Constructor which can call your own function to map the Me Smart Servo to arduino port, If the hardware serial was selected, it will used the hardware serial.

Parameters

[in] port - RJ25 port from PORT_1 to M2.

Member Function Documentation

◆ assignDevIdRequest()

boolean MeSmartServo::assignDevIdRequest ( void )

Function: assignDevIdRequest

Description: distribution device ID number to the smart servo link.

Parameters

[in] None

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ assignDevIdResponse()

void MeSmartServo::assignDevIdResponse ( void * arg )

Function: assignDevIdResponse

Description: distribution device ID number return packet processing.

Parameters

[in] None

Output: None

Returns: None

Others: None

Function: assignDevIdResponse

Description: distribution device ID number return packet processing.

Parameters

[in] *arg - address of input parameter.

Output: None

Returns: None

Others: None

◆ errorCodeCheckResponse()

void MeSmartServo::errorCodeCheckResponse ( void * arg )

Function: errorCodeCheckResponse

Description: This function is used to process the error response message of smart servo.

Parameters

[in] *arg - address of input parameter.

Output: None

Returns: None

Others: None

◆ getAngleRequest()

long MeSmartServo::getAngleRequest ( uint8_t devId )

Function: getAngleRequest

Description: This function used to get the smart servo's angle.

Parameters

[in] devId - the device id of servo that we want to read its angle.

Output: None

Returns: the angle of smart servo.

Others: None

◆ getCurrentRequest()

float MeSmartServo::getCurrentRequest ( uint8_t devId )

Function: getCurrentRequest

Description: This function used to get the smart servo's current.

Parameters

[in] devId - the device id of servo that we want to read its current.

Output: None

Returns: the current of smart servo.

Others: None

◆ getSpeedRequest()

float MeSmartServo::getSpeedRequest ( uint8_t devId )

Function: getSpeedRequest

Description: This function used to get the smart servo's speed.

Parameters

[in] devId - the device id of servo that we want to read its speed.

Output: None

Returns: the speed of smart servo.

Others: None

◆ getTempRequest()

float MeSmartServo::getTempRequest ( uint8_t devId )

Function: getTempRequest

Description: This function used to get the smart servo's temperature.

Parameters

[in] devId - the device id of servo that we want to read its temperature.

Output: None

Returns: the temperature of smart servo.

Others: None

◆ getVoltageRequest()

float MeSmartServo::getVoltageRequest ( uint8_t devId )

Function: getVoltageRequest

Description: This function used to get the smart servo's voltage.

Parameters

[in] devId - the device id of servo that we want to read its voltage.

Output: None

Returns: the voltage of smart servo.

Others: None

◆ handSharke()

boolean MeSmartServo::handSharke ( uint8_t dev_id )

Function: handSharke

Description: This function is used MCU and servo handshake.

Parameters

[in] dev_id - the device id of servo that we want to handsharke.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ move()

boolean MeSmartServo::move	(	uint8_t	dev_id,
		long	angle_value,
		float	speed,
		smartServoCb	callback = `NULL`
	)

Function: move

Description: smart servo moves to the relative angle.

Parameters

[in]	dev_id	- the device id of servo that we want to move.
[in]	angle_value	- the relative angle value we want move to.
[in]	speed	- move speed value(The unit is rpm).
[in]	callback	- callback function when the target position has been reached(Optional parameters).

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ moveTo()

boolean MeSmartServo::moveTo	(	uint8_t	dev_id,
		long	angle_value,
		float	speed,
		smartServoCb	callback = `NULL`
	)

Function: moveTo

Description: smart servo moves to the absolute angle.

Parameters

[in]	dev_id	- the device id of servo that we want to move.
[in]	angle_value	- the absolute angle value we want move to.
[in]	speed	- move speed value(The unit is rpm).
[in]	callback	- callback function when the target position has been reached(Optional parameters).

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ processSysexMessage()

void MeSmartServo::processSysexMessage ( void )

Function: processSysexMessage

Description: This function is used to process protocol messages of smart servo.

Parameters

[in] None

Output: None

Returns: None

Others: None

◆ readByte()

uint8_t MeSmartServo::readByte	(	uint8_t *	argv,
		int16_t	idx
	)

Function: readByte

Description: change 2byte 7bit read date to 1byte byte data.

Parameters

[in]	*argv	- the buffer for input data.
[in]	idx	- the index used to identify the first address of read data.

Output: return the converted data.

Returns: None

Others: None

◆ readFloat()

float MeSmartServo::readFloat	(	uint8_t *	argv,
		int16_t	idx
	)

Function: readFloat

Description: change (5byte 7bit) read date to 4byte float data.

Parameters

[in]	*argv	- the buffer for input data.
[in]	idx	- the index used to identify the first address of read data.

Output: return the converted data.

Returns: None

Others: None

◆ readLong()

long MeSmartServo::readLong	(	uint8_t *	argv,
		int	idx
	)

Function: readLong

Description: change (5byte 7bit) read date to 4byte long data.

Parameters

[in]	*argv	- the buffer for input data.
[in]	idx	- the index used to identify the first address of read data.

Output: return the converted data.

Returns: None

Others: None

◆ readShort()

short MeSmartServo::readShort	(	uint8_t *	argv,
		int16_t	idx,
		boolean	ignore_high
	)

Function: readShort

Description: change (2byte 7bit) or (3byte 7bit) read date to 2byte short data.

Parameters

[in]	*argv	- the buffer for input data.
[in]	idx	- the index used to identify the first address of read data.
[in]	ignore_high	- is there have third byte high-level data.

Output: return the converted data.

Returns: None

Others: None

◆ sendByte()

uint8_t MeSmartServo::sendByte ( uint8_t val )

Function: sendByte

Description: send (1byte 8bit) date to 2byte 7bit data.

Parameters

[in] val - the byte data to be converted.

Output: return the checksum data.

Returns: None

Others: None

◆ sendFloat()

uint8_t MeSmartServo::sendFloat ( float val )

Function: sendFloat

Description: send (4byte float) date to 5byte 7bit data.

Parameters

[in] val - the short data to be converted.

Output: return the checksum data.

Returns: None

Others: None

◆ sendLong()

uint8_t MeSmartServo::sendLong ( long val )

Function: sendLong

Description: send (4byte long) date to 5byte 7bit data.

Parameters

[in] val - the short data to be converted.

Output: return the checksum data.

Returns: None

Others: None

◆ sendShort()

uint8_t MeSmartServo::sendShort	(	int16_t	val,
		boolean	ignore_high
	)

Function: sendShort

Description: send (2byte short) date to 2byte or 3byte 7bit data.

Parameters

[in]	val	- the short data to be converted.
[in]	ignore_high	- is there have third byte high-level data.

Output: return the checksum data.

Returns: None

Others: None

◆ setBreak()

boolean MeSmartServo::setBreak	(	uint8_t	dev_id,
		uint8_t	breakStatus
	)

Function: setBreak

Description: set smart servo break status.

Parameters

[in]	dev_id	- the device id of servo that we want to set.
[in]	breakStatus	- the break status of servo.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ setInitAngle()

boolean MeSmartServo::setInitAngle	(	uint8_t	dev_id,
		uint8_t	mode = `0`,
		int16_t	speed = `40`
	)

Function: setInitAngle

Description: This function is used to move smart servo to its 0 degrees.

Parameters

[in]	dev_id	- the device id of servo that we want to set.
[in]	mode	- the return mode, 0 is the quick return mode.
[in]	speed	- the speed value return to init angle.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ setPwmMove()

boolean MeSmartServo::setPwmMove	(	uint8_t	dev_id,
		int16_t	pwm_value
	)

Function: setPwmMove

Description: This function is used to set the pwm motion of smart servo.

Parameters

[in]	dev_id	- the device id of servo that we want to set.
[in]	pwm_value	- the pwm value we wan't set the servo motor.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ setRGBLed()

boolean MeSmartServo::setRGBLed	(	uint8_t	dev_id,
		uint8_t	r_value,
		uint8_t	g_value,
		uint8_t	b_value
	)

Function: setRGBLed

Description: set the color of smart servo's RGB LED.

Parameters

[in]	dev_id	- the device id of servo that we want to set.
[in]	r_value	- Red component.
[in]	g_value	- green component.
[in]	B_value	- Blue component.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ setZero()

boolean MeSmartServo::setZero ( uint8_t dev_id )

Function: setZero

Description: set smart servo current angle zero postion.

Parameters

[in] dev_id - the device id of servo that we want to initialization position.

Output: None

Returns: If the assignment is successful, return true.

Others: None

◆ smartServoCmdResponse()

void MeSmartServo::smartServoCmdResponse ( void * arg )

Function: smartServoCmdResponse

Description: This function is used to process the response message of smart servo.

Parameters

[in] *arg - address of input parameter.

Output: None

Returns: None

Others: None

◆ smartServoEventHandle()

void MeSmartServo::smartServoEventHandle ( void )

Function: smartServoEventHandle

Description: This function is used to process protocol messages of smart servo.

Parameters

[in] None

Output: None

Returns: None

Others: None

The documentation for this class was generated from the following files:

src/MeSmartServo.h
src/MeSmartServo.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MeSmartServo() [1/2]

◆ MeSmartServo() [2/2]

Member Function Documentation

◆ assignDevIdRequest()

◆ assignDevIdResponse()

◆ errorCodeCheckResponse()

◆ getAngleRequest()

◆ getCurrentRequest()

◆ getSpeedRequest()

◆ getTempRequest()

◆ getVoltageRequest()

◆ handSharke()

◆ move()

◆ moveTo()

◆ processSysexMessage()

◆ readByte()

◆ readFloat()

◆ readLong()

◆ readShort()

◆ sendByte()

◆ sendFloat()

◆ sendLong()

◆ sendShort()

◆ setBreak()

◆ setInitAngle()

◆ setPwmMove()

◆ setRGBLed()

◆ setZero()

◆ smartServoCmdResponse()

◆ smartServoEventHandle()