ServoControl Namespace Reference

Functions
int8_t	init ()
	Initialize the servo subsystem.
int8_t	setServo (uint16_t id, ServoId channel, float angle, uint8_t speed, bool invert)
	Set a servo target angle.
int8_t	abort (ServoId channel)
	Abort an ongoing servo action.
int8_t	release (ServoId channel)
	Release servo hold (disable holding torque) for a channel.
int8_t	dispose ()
	Dispose/stop the servo subsystem and release resources.
float	getVersion ()
	Get current library version.

Function Documentation

abort()

int8_t ServoControl::abort

(

ServoId

channel

)

Abort an ongoing servo action.

Parameters

channel

Servo channel to abort.

Returns

Status code:

• 0 : success
• -1 : failed

dispose()

int8_t ServoControl::dispose

(

)

Dispose/stop the servo subsystem and release resources.

Returns

Status code (implementation-defined).

Examples

ServoControl/main.cpp.

getVersion()

float ServoControl::getVersion

(

)

Get current library version.

Original note: format 0.XYZ (3 digits after major).

Returns

Version as float.

Examples

ServoControl/main.cpp.

init()

int8_t ServoControl::init

(

)

Initialize the servo subsystem.

Returns

Status code:

• 0 : success
• -1 : SERVO_0 setup failed
• -2 : SERVO_1 setup failed

Examples

ServoControl/main.cpp.

release()

int8_t ServoControl::release

(

ServoId

channel

)

Release servo hold (disable holding torque) for a channel.

Parameters

channel

Servo channel to release.

Returns

Status code:

• 0 : success
• -1 : failed
• -2 : busy/running

Examples

ServoControl/main.cpp.

setServo()

int8_t ServoControl::setServo	(	uint16_t	id,
		ServoId	channel,
		float	angle,
		uint8_t	speed,
		bool	invert )

Set a servo target angle.

Parameters

id	User-defined action identifier (forwarded to event callbacks).
channel	Servo channel to control.
angle	Target angle (degrees).
speed	Speed percentage (valid range: 0..100).
invert	If true, invert the direction/orientation for the given channel.

Returns

Status code:

• 0 : success
• -1 : max angle exceed error
• -2 : speed range error (0..100)
• -3 : undefined channel
• -4 : not initialized

Examples

ServoControl/main.cpp.