Component: Servo Motor (BL0162) (E-blocks 2)

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Author Matrix TSL
Version 1.0 (Release)
Category E-blocks 2


Image Servo Motor (BL0162) component

Servo motor component to drive the E-blocks 2 BL0162 Servo Motors board. Provides up to eight individually addressable connections for standard DC servo motors to be connected.

There are component macros in flowcode which allow you to set the level of trim for each servo channel, and to move it to a certain position. Before you can allow the servo to connect you must use the initialise macro in the program and also the ‘EnableServo’ to specify which servo you are communicating with. There is also a ‘DisableServo’ macro you can use to disable a servo channel again.

Make sure the channels are all connected to the correct port and pin, the port will correspond to the port the servo motor is connected to on the E-blocks 2 upstream board you are using.

Examples

No additional examples


Downloadable macro reference

DisableServo

Disables a servo channel effectivly disabling the motor.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.


Return value

This call does not return a value


SetPosition

Moves directly to the specified position with no interpolation.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.
BYTE Position
Target position to move towards.


Return value

This call does not return a value


IsAutoMoving

Is the AutoMoveToPosition movement complete.

Returns 1 if the servo is still moving.

Returns 0 if the servo movement is complete.

Parameters

This macro has no parameters


Return value

BYTE


MoveToPosition

Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.
BYTE Position
Target position to move towards.


Return value

BYTE : 1 = reached target, 0 = target not reached.


SetTrim

Allows the level of trim for each servo channel to be adjusted progmatically.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.
BYTE Trim
0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us


Return value

This call does not return a value


AutoMoveToPosition

Automatically moves towards the new position with a fixed rate of 100 steps per second.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.
BYTE Position
Position to move to.


Return value

This call does not return a value


EnableServo

Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.

Parameters

BYTE Channel
The channel to set the position for. First channel is zero.


Return value

This call does not return a value


SetAutoMoveSpeed

Sets the speed of the auto move to position macro.

Default speed is 1.

Parameters

BYTE Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple


Return value

This call does not return a value


Initialise

Sets up the servo motor interrupts

Parameters

This macro has no parameters


Return value

This call does not return a value


Simulation macro reference

This component does not contain any simulation macros


Property reference

Channels (1 - 8)

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::Channel_Count.

Set the number of servo's that you need to control.

Value from 1 to 8.

Channel 0

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin0.

Pin on which to output PWM for the servo motor.

Channel 1

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin1.

Pin on which to output PWM for the servo motor.

Channel 2

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin2.

Pin on which to output PWM for the servo motor.

Channel 3

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin3.

Pin on which to output PWM for the servo motor.

Channel 4

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin4.

Pin on which to output PWM for the servo motor.

Channel 5

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin5.

Pin on which to output PWM for the servo motor.

Channel 6

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin6.

Pin on which to output PWM for the servo motor.

Channel 7

This property is of type Single digital pin and can be referenced with the variable name Servo_Controller1::pin7.

Pin on which to output PWM for the servo motor.

Minimum (us)

This property is of type Unsigned integer and can be referenced with the variable name Servo_Controller1::min_pulse_width.

Shortest pulse width that will be used.

Maximum (us)

This property is of type Unsigned integer and can be referenced with the variable name Servo_Controller1::max_pulse_width.

Longest pulse width used for the PWM signals.

Trim 0

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim0.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 1

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim1.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 2

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim2.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 3

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim3.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 4

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim4.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 5

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim5.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 6

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim6.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Trim 7

This property is of type Fixed list of ints and can be referenced with the variable name Servo_Controller1::trim7.

Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar

input values will produce the same degree of movement.

Servo Object 0

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim0.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 1

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim1.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 2

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim2.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 3

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim3.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 4

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim4.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 5

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim5.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 6

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim6.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Servo Object 7

This property is of type Panel object and can be referenced with the variable name Servo_Controller1::sim7.

Drag a servo motor component onto the System Panel, and then select it here, to create

an on screen simulation of the way that your flowchart moves the servo's.

Servo motors should be based on the 'Servo Motor Base' component, or use a custom component

set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

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