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| ==Component Source Code== | | ==Component Source Code== |
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| + | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx] |
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| Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx] | | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx] |
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| ==Detailed description== | | ==Detailed description== |
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− | ''<span style="color:red;">No additional examples</span>''
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− | ==Macro reference==
| |
| | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | Example showing how to control three servos using AutoMoveToPosion, MoveTopposition & SetPoition component macros. |
− | |-
| + | |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| + | {{Fcfile|Controlling_Servos_Example.fcfx|Controlling Servos Example.fcfx}} |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo'''
| |
− | |-
| |
− | | colspan="2" | Disables a servo channel effectivly disabling the motor.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |- | |
− | | colspan="2" | The channel to set the position for. First channel is zero.
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
| | | |
| + | ==Macro reference== |
| | | |
| + | ===AutoMoveToPosition=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPosition''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition''' |
| |- | | |- |
− | | colspan="2" | Moves directly to the specified position with no interpolation. | + | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. |
| |- | | |- |
| |- | | |- |
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| | width="90%" | Position | | | width="90%" | Position |
| |- | | |- |
− | | colspan="2" | Position to jump to. Range: 0-255 | + | | colspan="2" | Position to automatically move to. Range: 0-255 |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
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| + | ===AutoMoveToPositionInt=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt''' |
| |- | | |- |
− | | colspan="2" | 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. | + | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. |
| |- | | |- |
| |- | | |- |
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| | width="90%" | Position | | | width="90%" | Position |
| |- | | |- |
− | | colspan="2" | Target position to move towards. Range: 0-65535 | + | | colspan="2" | Position to automatically move to. Range: 0-65535 |
| |- | | |- |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
| | | |
| | | |
| + | ===DisableServo=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPositionInt''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo''' |
| |- | | |- |
− | | colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. | + | | colspan="2" | Disables a servo channel effectivly disabling the motor. |
| |- | | |- |
| |- | | |- |
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| | width="90%" | Channel | | | width="90%" | Channel |
| |- | | |- |
− | | colspan="2" | The channel to assign the new position. Range: 0-7 | + | | colspan="2" | The channel to set the position for. First channel is zero. |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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− | | width="90%" | Position
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− | |-
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− | | colspan="2" | Position to jump to. Range: 0-65535
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
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| + | ===EnableServo=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPosition''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo''' |
| |- | | |- |
− | | colspan="2" | 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. | + | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. |
| |- | | |- |
| |- | | |- |
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| | width="90%" | Channel | | | width="90%" | Channel |
| |- | | |- |
− | | colspan="2" | The channel to assign the new position. Range: 0-7 | + | | colspan="2" | The channel to set the position for. First channel is zero. |
| |- | | |- |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
− | | width="90%" | Position
| |
− | |-
| |
− | | colspan="2" | Target position to move towards. Range: 0-255
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
| | | |
| | | |
| + | ===Initialise=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise''' |
| |- | | |- |
− | | colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically. | + | | colspan="2" | Sets up the servo motor interrupts |
| |- | | |- |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
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− | | colspan="2" | The channel to set the position for. First channel is zero.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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− | | width="90%" | Trim
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− | |-
| |
− | | colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
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| + | ===IsAutoMoving=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
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− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===IsServoAutoMoving=== |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt'''
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− | |-
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− | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
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− | | width="90%" | Speed
| |
− | |-
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− | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
− | |-
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− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− | | |
− | | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
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| + | ===MoveToPosition=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPosition''' |
| |- | | |- |
− | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. | + | | colspan="2" | 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. |
| |- | | |- |
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| | width="90%" | Position | | | width="90%" | Position |
| |- | | |- |
− | | colspan="2" | Position to automatically move to. Range: 0-255 | + | | colspan="2" | Target position to move towards. Range: 0-255 |
| |- | | |- |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
| | | |
| | | |
| + | ===MoveToPositionInt=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt''' |
| |- | | |- |
− | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. | + | | colspan="2" | 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. |
| |- | | |- |
| |- | | |- |
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| | width="90%" | Channel | | | width="90%" | Channel |
| |- | | |- |
− | | colspan="2" | The channel to set the position for. First channel is zero. | + | | colspan="2" | The channel to assign the new position. Range: 0-7 |
| + | |- |
| + | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT |
| + | | width="90%" | Position |
| + | |- |
| + | | colspan="2" | Target position to move towards. Range: 0-65535 |
| |- | | |- |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
| | | |
| | | |
| + | ===SetAutoMoveSpeed=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
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| + | ===SetAutoMoveSpeedInt=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
| | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt''' |
| |- | | |- |
− | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. | + | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. |
| |- | | |- |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
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− | | width="90%" | Channel
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− | |-
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− | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
| |- | | |- |
| | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT | | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT |
− | | width="90%" | Position | + | | width="90%" | Speed |
| |- | | |- |
− | | colspan="2" | Position to automatically move to. Range: 0-65535 | + | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− | | |
− | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
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− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
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− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
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− | |-
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− | | colspan="2" | Sets up the servo motor interrupts
| |
− | |-
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− | |-
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− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− | | |
− | | |
− | | |
− | | |
− | ==Property reference==
| |
− | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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− | |-
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− | | width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
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− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
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− | |-
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
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− | | width="90%" | Channels (1 - 8)
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− | |-
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− | | colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
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− | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
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− | |-
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 0
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 1
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 2
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 3
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 4
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 5
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 6
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
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− | | width="90%" | Channel 7
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− | |-
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− | | colspan="2" | Pin on which to output PWM for the servo motor.
| |
− | |-
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− | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
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− | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources
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− | |-
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− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
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− | | width="90%" | Peripherals
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− | |-
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− | | colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
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− | |-
| |
− | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
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− | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
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− | |-
| |
− | |-
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− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
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− | | width="90%" | Trim Mode
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− | |-
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− | | colspan="2" |
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 0
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 1
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 2
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 3
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 4
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 5
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 6
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| |
− | | width="90%" | Trim 7
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
− | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
− | | width="90%" | Minimum (us)
| |
− | |-
| |
− | | colspan="2" | Shortest pulse width that will be used.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
− | | width="90%" | Maximum (us)
| |
− | |-
| |
− | | colspan="2" | Longest pulse width used for the PWM signals.
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| |
− | | width="90%" | Period Multiplier
| |
− | |-
| |
− | | colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| |
− | | width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 0
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 1
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 2
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 3
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 4
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 5
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 6
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
| |
− | | width="90%" | Servo Object 7
| |
− | |-
| |
− | | colspan="2" | 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)).
| |
− | |}==Macro reference==
| |
− | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableServo'''
| |
− | |-
| |
− | | colspan="2" | Disables a servo channel effectivly disabling the motor.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to set the position for. First channel is zero.
| |
| |- | | |- |
| | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
Line 513: |
Line 268: |
| | | |
| | | |
| + | ===SetPosition=== |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
Line 536: |
Line 292: |
| | | |
| | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===SetPositionInt=== |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPositionInt'''
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
− | | width="90%" | Position
| |
− | |-
| |
− | | colspan="2" | Target position to move towards. Range: 0-65535
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− | | |
− | | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
Line 582: |
Line 316: |
| | | |
| | | |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| + | ===SetTrim=== |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MoveToPosition'''
| |
− | |-
| |
− | | colspan="2" | 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.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Position
| |
− | |-
| |
− | | colspan="2" | Target position to move towards. Range: 0-255
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− | | |
− | | |
| {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" |
| |- | | |- |
Line 626: |
Line 338: |
| | width="90%" style="border-top: 2px solid #000;" | ''Return'' | | | width="90%" style="border-top: 2px solid #000;" | ''Return'' |
| |} | | |} |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsAutoMoving'''
| |
− | |-
| |
− | | colspan="2" | Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt'''
| |
− | |-
| |
− | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
− | | width="90%" | Speed
| |
− | |-
| |
− | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsServoAutoMoving'''
| |
− | |-
| |
− | | colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | Servo Motor Output Range: 0-7
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition'''
| |
− | |-
| |
− | | colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Position
| |
− | |-
| |
− | | colspan="2" | Position to automatically move to. Range: 0-255
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo'''
| |
− | |-
| |
− | | colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to set the position for. First channel is zero.
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
| |
− | |-
| |
− | | colspan="2" | Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Speed
| |
− | |-
| |
− | | colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt'''
| |
− | |-
| |
− | | colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| |
− | | width="90%" | Channel
| |
− | |-
| |
− | | colspan="2" | The channel to assign the new position. Range: 0-7
| |
− | |-
| |
− | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| |
− | | width="90%" | Position
| |
− | |-
| |
− | | colspan="2" | Position to automatically move to. Range: 0-65535
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
− | {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
| |
− | |-
| |
− | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| |
− | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
| |
− | |-
| |
− | | colspan="2" | Sets up the servo motor interrupts
| |
− | |-
| |
− | |-
| |
− | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| |
− | | width="90%" style="border-top: 2px solid #000;" | ''Return''
| |
− | |}
| |
− |
| |
− |
| |
| | | |
| | | |