/********************************************************************* * * $Id: yocto_servo.h 59978 2024-03-18 15:04:46Z mvuilleu $ * * Declares yFindServo(), the high-level API for Servo functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ #ifndef YOCTO_SERVO_H #define YOCTO_SERVO_H #include #include #include "yocto_api.h" #ifdef YOCTOLIB_NAMESPACE namespace YOCTOLIB_NAMESPACE { #endif //--- (YServo return codes) //--- (end of YServo return codes) //--- (YServo yapiwrapper) //--- (end of YServo yapiwrapper) //--- (YServo definitions) class YServo; // forward declaration typedef void (*YServoValueCallback)(YServo *func, const string& functionValue); #ifndef _Y_ENABLED_ENUM #define _Y_ENABLED_ENUM typedef enum { Y_ENABLED_FALSE = 0, Y_ENABLED_TRUE = 1, Y_ENABLED_INVALID = -1, } Y_ENABLED_enum; #endif #ifndef _CLASS_YMOVE #define _CLASS_YMOVE class YOCTO_CLASS_EXPORT YMove { public: int target; int ms; int moving; YMove() :target(YAPI_INVALID_INT), ms(YAPI_INVALID_INT), moving(YAPI_INVALID_UINT) {} bool operator==(const YMove& o) const { return (target == o.target) && (ms == o.ms) && (moving == o.moving); } }; #endif #ifndef _Y_ENABLEDATPOWERON_ENUM #define _Y_ENABLEDATPOWERON_ENUM typedef enum { Y_ENABLEDATPOWERON_FALSE = 0, Y_ENABLEDATPOWERON_TRUE = 1, Y_ENABLEDATPOWERON_INVALID = -1, } Y_ENABLEDATPOWERON_enum; #endif #define Y_POSITION_INVALID (YAPI_INVALID_INT) #define Y_RANGE_INVALID (YAPI_INVALID_UINT) #define Y_NEUTRAL_INVALID (YAPI_INVALID_UINT) #define Y_POSITIONATPOWERON_INVALID (YAPI_INVALID_INT) //--- (end of YServo definitions) //--- (YServo declaration) /** * 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. */ class YOCTO_CLASS_EXPORT YServo: public YFunction { #ifdef __BORLANDC__ #pragma option push -w-8022 #endif //--- (end of YServo declaration) protected: //--- (YServo attributes) // Attributes (function value cache) int _position; Y_ENABLED_enum _enabled; int _range; int _neutral; YMove _move; int _positionAtPowerOn; Y_ENABLEDATPOWERON_enum _enabledAtPowerOn; YServoValueCallback _valueCallbackServo; friend YServo *yFindServo(const string& func); friend YServo *yFirstServo(void); // Function-specific method for parsing of JSON output and caching result virtual int _parseAttr(YJSONObject *json_val); // Constructor is protected, use yFindServo factory function to instantiate YServo(const string& func); //--- (end of YServo attributes) public: virtual ~YServo(); //--- (YServo accessors declaration) static const int POSITION_INVALID = YAPI_INVALID_INT; static const Y_ENABLED_enum ENABLED_FALSE = Y_ENABLED_FALSE; static const Y_ENABLED_enum ENABLED_TRUE = Y_ENABLED_TRUE; static const Y_ENABLED_enum ENABLED_INVALID = Y_ENABLED_INVALID; static const int RANGE_INVALID = YAPI_INVALID_UINT; static const int NEUTRAL_INVALID = YAPI_INVALID_UINT; static const YMove MOVE_INVALID; static const int POSITIONATPOWERON_INVALID = YAPI_INVALID_INT; static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_FALSE = Y_ENABLEDATPOWERON_FALSE; static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_TRUE = Y_ENABLEDATPOWERON_TRUE; static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_INVALID = Y_ENABLEDATPOWERON_INVALID; /** * Returns the current servo position. * * @return an integer corresponding to the current servo position * * On failure, throws an exception or returns YServo::POSITION_INVALID. */ int get_position(void); inline int position(void) { return this->get_position(); } /** * Changes immediately the servo driving position. * * @param newval : an integer corresponding to immediately the servo driving position * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_position(int newval); inline int setPosition(int newval) { return this->set_position(newval); } /** * Returns the state of the RC servo motors. * * @return either YServo::ENABLED_FALSE or YServo::ENABLED_TRUE, according to the state of the RC servo motors * * On failure, throws an exception or returns YServo::ENABLED_INVALID. */ Y_ENABLED_enum get_enabled(void); inline Y_ENABLED_enum enabled(void) { return this->get_enabled(); } /** * Stops or starts the RC servo motor. * * @param newval : either YServo::ENABLED_FALSE or YServo::ENABLED_TRUE * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_enabled(Y_ENABLED_enum newval); inline int setEnabled(Y_ENABLED_enum newval) { return this->set_enabled(newval); } /** * Returns the current range of use of the servo. * * @return an integer corresponding to the current range of use of the servo * * On failure, throws an exception or returns YServo::RANGE_INVALID. */ int get_range(void); inline int range(void) { return this->get_range(); } /** * 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. * * @param newval : an integer corresponding to the range of use of the servo, specified in per cents * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_range(int newval); inline int setRange(int newval) { return this->set_range(newval); } /** * Returns the duration in microseconds of a neutral pulse for the servo. * * @return an integer corresponding to the duration in microseconds of a neutral pulse for the servo * * On failure, throws an exception or returns YServo::NEUTRAL_INVALID. */ int get_neutral(void); inline int neutral(void) { return this->get_neutral(); } /** * 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. * * @param newval : an integer corresponding to the duration of the pulse corresponding to the neutral * position of the servo * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_neutral(int newval); inline int setNeutral(int newval) { return this->set_neutral(newval); } YMove get_move(void); inline YMove move(void) { return this->get_move(); } int set_move(YMove newval); inline int setMove(YMove newval) { return this->set_move(newval); } /** * Performs a smooth move at constant speed toward a given position. * * @param target : new position at the end of the move * @param ms_duration : total duration of the move, in milliseconds * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int move(int target,int ms_duration); /** * Returns the servo position at device power up. * * @return an integer corresponding to the servo position at device power up * * On failure, throws an exception or returns YServo::POSITIONATPOWERON_INVALID. */ int get_positionAtPowerOn(void); inline int positionAtPowerOn(void) { return this->get_positionAtPowerOn(); } /** * Configure the servo position at device power up. Remember to call the matching * module saveToFlash() method, otherwise this call will have no effect. * * @param newval : an integer * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_positionAtPowerOn(int newval); inline int setPositionAtPowerOn(int newval) { return this->set_positionAtPowerOn(newval); } /** * Returns the servo signal generator state at power up. * * @return either YServo::ENABLEDATPOWERON_FALSE or YServo::ENABLEDATPOWERON_TRUE, according to the * servo signal generator state at power up * * On failure, throws an exception or returns YServo::ENABLEDATPOWERON_INVALID. */ Y_ENABLEDATPOWERON_enum get_enabledAtPowerOn(void); inline Y_ENABLEDATPOWERON_enum enabledAtPowerOn(void) { return this->get_enabledAtPowerOn(); } /** * Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash() * method, otherwise this call will have no effect. * * @param newval : either YServo::ENABLEDATPOWERON_FALSE or YServo::ENABLEDATPOWERON_TRUE * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_enabledAtPowerOn(Y_ENABLEDATPOWERON_enum newval); inline int setEnabledAtPowerOn(Y_ENABLEDATPOWERON_enum newval) { return this->set_enabledAtPowerOn(newval); } /** * 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 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. * * @param func : a string that uniquely characterizes the RC servo motor, for instance * SERVORC1.servo1. * * @return a YServo object allowing you to drive the RC servo motor. */ static YServo* FindServo(string func); /** * 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. * * @param 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. * @noreturn */ virtual int registerValueCallback(YServoValueCallback callback); using YFunction::registerValueCallback; virtual int _invokeValueCallback(string value); inline static YServo *Find(string func) { return YServo::FindServo(func); } /** * 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. * * @return 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. */ YServo *nextServo(void); inline YServo *next(void) { return this->nextServo();} /** * Starts the enumeration of RC servo motors currently accessible. * Use the method YServo::nextServo() to iterate on * next RC servo motors. * * @return a pointer to a YServo object, corresponding to * the first RC servo motor currently online, or a NULL pointer * if there are none. */ static YServo *FirstServo(void); inline static YServo *First(void) { return YServo::FirstServo();} #ifdef __BORLANDC__ #pragma option pop #endif //--- (end of YServo accessors declaration) }; //--- (YServo functions declaration) /** * 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 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. * * @param func : a string that uniquely characterizes the RC servo motor, for instance * SERVORC1.servo1. * * @return a YServo object allowing you to drive the RC servo motor. */ inline YServo *yFindServo(const string& func) { return YServo::FindServo(func);} /** * Starts the enumeration of RC servo motors currently accessible. * Use the method YServo::nextServo() to iterate on * next RC servo motors. * * @return a pointer to a YServo object, corresponding to * the first RC servo motor currently online, or a NULL pointer * if there are none. */ inline YServo *yFirstServo(void) { return YServo::FirstServo();} //--- (end of YServo functions declaration) #ifdef YOCTOLIB_NAMESPACE // end of namespace definition } #endif #endif