Software / API Bindings / Delphi/Lazarus / API Reference and Examples / Bricklets / Servo Bricklet 2.0

Delphi/Lazarus - Servo Bricklet 2.0¶

This is the description of the Delphi/Lazarus API bindings for the Servo Bricklet 2.0. General information and technical specifications for the Servo Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

Examples¶

The example code below is Public Domain (CC0 1.0).

Configuration¶

Download (ExampleConfiguration.pas)

program ExampleConfiguration;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletServoV2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    s: TBrickletServoV2;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Servo Bricklet 2.0 }

var
  e: TExample;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  s := TBrickletServoV2.Create(UID, ipcon);

  { Connect to brickd }
  ipcon.Connect(HOST, PORT);
  { Don't use device before ipcon is connected }

  { Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
             and operating angle -100 to 100° }
  s.SetDegree(0, -10000, 10000);
  s.SetPulseWidth(0, 1000, 2000);
  s.SetPeriod(0, 19500);
  s.SetMotionConfiguration(0, 500000, 1000,
                           1000); { Full velocity with slow ac-/deceleration }


  { Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 to 1.95ms
             and operating angle -90 to 90° }
  s.SetDegree(5, -9000, 9000);
  s.SetPulseWidth(5, 950, 1950);
  s.SetPeriod(5, 20000);
  s.SetMotionConfiguration(5, 500000, 500000,
                           500000); { Full velocity with full ac-/deceleration }

  s.SetPosition(0, 10000); { Set to most right position }
  s.SetEnable(0, true);

  s.SetPosition(5, -9000); { Set to most left position }
  s.SetEnable(5, true);

  WriteLn('Press key to exit');
  ReadLn;

  s.SetEnable(0, false);
  s.SetEnable(5, false);

  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Callback¶

Download (ExampleCallback.pas)

program ExampleCallback;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletServoV2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    s: TBrickletServoV2;
  public
    procedure PositionReachedCB(sender: TBrickletServoV2; const servoChannel: word;
                                const position: smallint);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Servo Bricklet 2.0 }

var
  e: TExample;

{ Use position reached callback to swing back and forth }
procedure TExample.PositionReachedCB(sender: TBrickletServoV2; const servoChannel: word;
                                     const position: smallint);
begin
  if (position = 9000) then begin
    WriteLn('Position: 90°, going to -90°');
    sender.SetPosition(servoChannel, -9000);
  end
  else if (position = -9000) then begin
    WriteLn('Position: -90°, going to 90°');
    sender.SetPosition(servoChannel, 9000);
  end
  else begin
    WriteLn('Error'); { Can only happen if another program sets position }
  end;
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  s := TBrickletServoV2.Create(UID, ipcon);

  { Connect to brickd }
  ipcon.Connect(HOST, PORT);
  { Don't use device before ipcon is connected }

  { Register position reached callback to procedure PositionReachedCB }
  s.OnPositionReached := {$ifdef FPC}@{$endif}PositionReachedCB;

  { Enable position reached callback }
  s.SetPositionReachedCallbackConfiguration(0, true);

  { Set velocity to 100°/s. This has to be smaller or equal to the
    maximum velocity of the servo you are using, otherwise the position
    reached callback will be called too early }
  s.SetMotionConfiguration(0, 10000, 500000, 500000);
  s.SetPosition(0, 9000);
  s.SetEnable(0, true);

  WriteLn('Press key to exit');
  ReadLn;

  s.SetEnable(0, false);

  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

API¶

Since Delphi does not support multiple return values directly, we use the out keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Every function of the Servo Brick API that has a servo_channel parameter can address a servo with the servo channel (0 to 9). If it is a setter function then multiple servos can be addressed at once with a bitmask for the servos, if the highest bit is set. For example: 1 will address servo 1, (1 << 1) | (1 << 5) | (1 << 15) will address servos 1 and 5. This allows to set configurations to several servos with one function call. It is guaranteed that the changes will take effect in the same PWM period for all servos you specified in the bitmask.

Basic Functions¶

constructor TBrickletServoV2.Create(const uid: string; ipcon: TIPConnection)¶

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	servoV2 – Type: TBrickletServoV2

Creates an object with the unique device ID uid:

servoV2 := TBrickletServoV2.Create('YOUR_DEVICE_UID', ipcon);

This object can then be used after the IP Connection is connected.

procedure TBrickletServoV2.GetStatus(out enabled: array [0..9] of boolean; out currentPosition: array [0..9] of smallint; out currentVelocity: array [0..9] of smallint; out current: array [0..9] of word; out inputVoltage: word)¶

Output Parameters:	enabled – Type: array [0..9] of boolean currentPosition – Type: array [0..9] of smallint, Unit: 1/100 °, Range: ? currentVelocity – Type: array [0..9] of smallint, Unit: 1/100 °/s, Range: [0 to 500000] current – Type: array [0..9] of word, Unit: 1 mA, Range: [0 to 2¹⁶ - 1] inputVoltage – Type: word, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the status information of the Servo Bricklet 2.0.

The status includes

for each channel if it is enabled or disabled,
for each channel the current position,
for each channel the current velocity,
for each channel the current usage and
the input voltage.

Please note that the position and the velocity is a snapshot of the current position and velocity of the servo in motion.

procedure TBrickletServoV2.SetEnable(const servoChannel: word; const enable: boolean)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] enable – Type: boolean, Default: false

Enables a servo channel (0 to 9). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

function TBrickletServoV2.GetEnabled(const servoChannel: word): boolean¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	enable – Type: boolean, Default: false

Returns true if the specified servo channel is enabled, false otherwise.

procedure TBrickletServoV2.SetPosition(const servoChannel: word; const position: smallint)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] position – Type: smallint, Unit: 1/100 °, Range: ?

Sets the position in °/100 for the specified servo channel.

The default range of the position is -9000 to 9000, but it can be specified according to your servo with SetDegree.

If you want to control a linear servo or RC brushless motor controller or similar with the Servo Brick, you can also define lengths or speeds with SetDegree.

function TBrickletServoV2.GetPosition(const servoChannel: word): smallint¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	position – Type: smallint, Unit: 1/100 °, Range: ?

Returns the position of the specified servo channel as set by SetPosition.

function TBrickletServoV2.GetCurrentPosition(const servoChannel: word): smallint¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	position – Type: smallint, Unit: 1/100 °, Range: ?

Returns the current position of the specified servo channel. This may not be the value of SetPosition if the servo is currently approaching a position goal.

function TBrickletServoV2.GetCurrentVelocity(const servoChannel: word): word¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	velocity – Type: word, Unit: 1/100 °/s, Range: [0 to 500000]

Returns the current velocity of the specified servo channel. This may not be the velocity specified by SetMotionConfiguration. if the servo is currently approaching a velocity goal.

procedure TBrickletServoV2.SetMotionConfiguration(const servoChannel: word; const velocity: longword; const acceleration: longword; const deceleration: longword)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] velocity – Type: longword, Unit: 1/100 °/s, Range: [0 to 500000], Default: 100000 acceleration – Type: longword, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000 deceleration – Type: longword, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000

Sets the maximum velocity of the specified servo channel in °/100s as well as the acceleration and deceleration in °/100s²

With a velocity of 0 °/100s the position will be set immediately (no velocity).

With an acc-/deceleration of 0 °/100s² the velocity will be set immediately (no acc-/deceleration).

procedure TBrickletServoV2.GetMotionConfiguration(const servoChannel: word; out velocity: longword; out acceleration: longword; out deceleration: longword)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Output Parameters:	velocity – Type: longword, Unit: 1/100 °/s, Range: [0 to 500000], Default: 100000 acceleration – Type: longword, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000 deceleration – Type: longword, Unit: 1/100 °/s², Range: [0 to 500000], Default: 50000

Returns the motion configuration as set by SetMotionConfiguration.

procedure TBrickletServoV2.SetPulseWidth(const servoChannel: word; const min: longword; const max: longword)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] min – Type: longword, Unit: 1 µs, Range: [0 to 2³² - 1], Default: 1000 max – Type: longword, Unit: 1 µs, Range: [0 to 2³² - 1], Default: 2000

Sets the minimum and maximum pulse width of the specified servo channel in µs.

Usually, servos are controlled with a PWM, whereby the length of the pulse controls the position of the servo. Every servo has different minimum and maximum pulse widths, these can be specified with this function.

If you have a datasheet for your servo that specifies the minimum and maximum pulse width, you should set the values accordingly. If your servo comes without any datasheet you have to find the values via trial and error.

Both values have a range from 1 to 65535 (unsigned 16-bit integer). The minimum must be smaller than the maximum.

The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and maximum pulse width.

procedure TBrickletServoV2.GetPulseWidth(const servoChannel: word; out min: longword; out max: longword)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Output Parameters:	min – Type: longword, Unit: 1 µs, Range: [0 to 2³² - 1], Default: 1000 max – Type: longword, Unit: 1 µs, Range: [0 to 2³² - 1], Default: 2000

Returns the minimum and maximum pulse width for the specified servo channel as set by SetPulseWidth.

procedure TBrickletServoV2.SetDegree(const servoChannel: word; const min: smallint; const max: smallint)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] min – Type: smallint, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 max – Type: smallint, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000

Sets the minimum and maximum degree for the specified servo channel (by default given as °/100).

This only specifies the abstract values between which the minimum and maximum pulse width is scaled. For example: If you specify a pulse width of 1000µs to 2000µs and a degree range of -90° to 90°, a call of SetPosition with 0 will result in a pulse width of 1500µs (-90° = 1000µs, 90° = 2000µs, etc.).

Possible usage:

The datasheet of your servo specifies a range of 200° with the middle position at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
You measure a range of 220° on your servo and you don't have or need a middle position. In this case you can set the minimum to 0 and the maximum to 22000.
You have a linear servo with a drive length of 20cm, In this case you could set the minimum to 0 and the maximum to 20000. Now you can set the Position with SetPosition with a resolution of cm/100. Also the velocity will have a resolution of cm/100s and the acceleration will have a resolution of cm/100s².
You don't care about units and just want the highest possible resolution. In this case you should set the minimum to -32767 and the maximum to 32767.
You have a brushless motor with a maximum speed of 10000 rpm and want to control it with a RC brushless motor controller. In this case you can set the minimum to 0 and the maximum to 10000. SetPosition now controls the rpm.

Both values have a possible range from -32767 to 32767 (signed 16-bit integer). The minimum must be smaller than the maximum.

The default values are -9000 and 9000 for the minimum and maximum degree.

procedure TBrickletServoV2.GetDegree(const servoChannel: word; out min: smallint; out max: smallint)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Output Parameters:	min – Type: smallint, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 max – Type: smallint, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000

Returns the minimum and maximum degree for the specified servo channel as set by SetDegree.

procedure TBrickletServoV2.SetPeriod(const servoChannel: word; const period: longword)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] period – Type: longword, Unit: 1 µs, Range: [1 to 1000000], Default: 19500

Sets the period of the specified servo channel in µs.

Usually, servos are controlled with a PWM. Different servos expect PWMs with different periods. Most servos run well with a period of about 20ms.

If your servo comes with a datasheet that specifies a period, you should set it accordingly. If you don't have a datasheet and you have no idea what the correct period is, the default value (19.5ms) will most likely work fine.

The minimum possible period is 1µs and the maximum is 1000000µs.

The default value is 19.5ms (19500µs).

function TBrickletServoV2.GetPeriod(const servoChannel: word): longword¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	period – Type: longword, Unit: 1 µs, Range: [1 to 1000000], Default: 19500

Returns the period for the specified servo channel as set by SetPeriod.

function TBrickletServoV2.GetServoCurrent(const servoChannel: word): word¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	current – Type: word, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of the specified servo channel in mA.

procedure TBrickletServoV2.SetServoCurrentConfiguration(const servoChannel: word; const averagingDuration: byte)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] averagingDuration – Type: byte, Unit: 1 ms, Range: [1 to 255], Default: 255

Sets the averaging duration of the current measurement for the specified servo channel in ms.

function TBrickletServoV2.GetServoCurrentConfiguration(const servoChannel: word): byte¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	averagingDuration – Type: byte, Unit: 1 ms, Range: [1 to 255], Default: 255

Returns the servo current configuration for the specified servo channel as set by SetServoCurrentConfiguration.

procedure TBrickletServoV2.SetInputVoltageConfiguration(const averagingDuration: byte)¶

Parameters:	averagingDuration – Type: byte, Unit: 1 ms, Range: [1 to 255], Default: 255

Sets the averaging duration of the input voltage measurement for the specified servo channel in ms.

function TBrickletServoV2.GetInputVoltageConfiguration: byte¶

Returns:	averagingDuration – Type: byte, Unit: 1 ms, Range: [1 to 255], Default: 255

Returns the input voltage configuration as set by SetInputVoltageConfiguration.

function TBrickletServoV2.GetOverallCurrent: word¶

Returns:	current – Type: word, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of all servos together in mA.

function TBrickletServoV2.GetInputVoltage: word¶

Returns:	voltage – Type: word, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the input voltage in mV. The input voltage is given via the black power input connector on the Servo Brick.

Advanced Functions¶

procedure TBrickletServoV2.SetCurrentCalibration(const offset: array [0..9] of smallint)¶

Parameters:	offset – Type: array [0..9] of smallint, Unit: 1 mA, Range: [-2¹⁵ to 2¹⁵ - 1]

Sets an offset value (in mA) for each channel.

Note: On delivery the Servo Bricklet 2.0 is already calibrated.

function TBrickletServoV2.GetCurrentCalibration: array [0..9] of smallint¶

Returns:	offset – Type: array [0..9] of smallint, Unit: 1 mA, Range: [-2¹⁵ to 2¹⁵ - 1]

Returns the current calibration as set by SetCurrentCalibration.

procedure TBrickletServoV2.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

Output Parameters:	errorCountAckChecksum – Type: longword, Range: [0 to 2³² - 1] errorCountMessageChecksum – Type: longword, Range: [0 to 2³² - 1] errorCountFrame – Type: longword, Range: [0 to 2³² - 1] errorCountOverflow – Type: longword, Range: [0 to 2³² - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

ACK checksum errors,
message checksum errors,
framing errors and
overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

procedure TBrickletServoV2.SetStatusLEDConfig(const config: byte)¶

Parameters:	config – Type: byte, Range: See constants, Default: 3

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

BRICKLET_SERVO_V2_STATUS_LED_CONFIG_OFF = 0
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_ON = 1
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletServoV2.GetStatusLEDConfig: byte¶

Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

For config:

BRICKLET_SERVO_V2_STATUS_LED_CONFIG_OFF = 0
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_ON = 1
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
BRICKLET_SERVO_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletServoV2.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, Unit: 1 °C, Range: [-2¹⁵ to 2¹⁵ - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

procedure TBrickletServoV2.Reset¶

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

procedure TBrickletServoV2.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)¶

Output Parameters:

Output Parameters:	uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: word, Range: [0 to 2¹⁶ - 1]

uid – Type: string, Length: up to 8
connectedUid – Type: string, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardwareVersion – Type: array [0..2] of byte

0: major – Type: byte, Range: [0 to 255]
1: minor – Type: byte, Range: [0 to 255]
2: revision – Type: byte, Range: [0 to 255]

firmwareVersion – Type: array [0..2] of byte

0: major – Type: byte, Range: [0 to 255]
1: minor – Type: byte, Range: [0 to 255]
2: revision – Type: byte, Range: [0 to 255]

deviceIdentifier – Type: word, Range: [0 to 2¹⁶ - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

procedure TBrickletServoV2.SetPositionReachedCallbackConfiguration(const servoChannel: word; const enabled: boolean)¶

Parameters:	servoChannel – Type: word, Range: [0 to 9, 2¹⁵ to 33791] enabled – Type: boolean, Default: false

Enable/Disable OnPositionReached callback.

function TBrickletServoV2.GetPositionReachedCallbackConfiguration(const servoChannel: word): boolean¶

Parameters:	servoChannel – Type: word, Range: [0 to 9]
Returns:	enabled – Type: boolean, Default: false

Returns the callback configuration as set by SetPositionReachedCallbackConfiguration.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletServoV2; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

servoV2.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

property TBrickletServoV2.OnPositionReached¶

procedure(sender: TBrickletServoV2; const servoChannel: word; const position: smallint) of object;

Callback Parameters:	sender – Type: TBrickletServoV2 servoChannel – Type: word, Range: [0 to 9] position – Type: smallint, Unit: 1/100 °, Range: ?

This callback is triggered when a position set by SetPosition is reached. If the new position matches the current position then the callback is not triggered, because the servo didn't move. The parameters are the servo and the position that is reached.

You can enable this callback with SetPositionReachedCallbackConfiguration.

Note

Since we can't get any feedback from the servo, this only works if the velocity (see SetMotionConfiguration) is set smaller or equal to the maximum velocity of the servo. Otherwise the servo will lag behind the control value and the callback will be triggered too early.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

function TBrickletServoV2.GetAPIVersion: array [0..2] of byte¶

Output Parameters:	apiVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

function TBrickletServoV2.GetResponseExpected(const functionId: byte): boolean¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

BRICKLET_SERVO_V2_FUNCTION_SET_ENABLE = 2
BRICKLET_SERVO_V2_FUNCTION_SET_POSITION = 4
BRICKLET_SERVO_V2_FUNCTION_SET_MOTION_CONFIGURATION = 8
BRICKLET_SERVO_V2_FUNCTION_SET_PULSE_WIDTH = 10
BRICKLET_SERVO_V2_FUNCTION_SET_DEGREE = 12
BRICKLET_SERVO_V2_FUNCTION_SET_PERIOD = 14
BRICKLET_SERVO_V2_FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
BRICKLET_SERVO_V2_FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
BRICKLET_SERVO_V2_FUNCTION_SET_CURRENT_CALIBRATION = 23
BRICKLET_SERVO_V2_FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
BRICKLET_SERVO_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BRICKLET_SERVO_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
BRICKLET_SERVO_V2_FUNCTION_RESET = 243
BRICKLET_SERVO_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletServoV2.SetResponseExpected(const functionId: byte; const responseExpected: boolean)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: boolean

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

The following constants are available for this function:

For functionId:

BRICKLET_SERVO_V2_FUNCTION_SET_ENABLE = 2
BRICKLET_SERVO_V2_FUNCTION_SET_POSITION = 4
BRICKLET_SERVO_V2_FUNCTION_SET_MOTION_CONFIGURATION = 8
BRICKLET_SERVO_V2_FUNCTION_SET_PULSE_WIDTH = 10
BRICKLET_SERVO_V2_FUNCTION_SET_DEGREE = 12
BRICKLET_SERVO_V2_FUNCTION_SET_PERIOD = 14
BRICKLET_SERVO_V2_FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
BRICKLET_SERVO_V2_FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
BRICKLET_SERVO_V2_FUNCTION_SET_CURRENT_CALIBRATION = 23
BRICKLET_SERVO_V2_FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
BRICKLET_SERVO_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
BRICKLET_SERVO_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
BRICKLET_SERVO_V2_FUNCTION_RESET = 243
BRICKLET_SERVO_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletServoV2.SetResponseExpectedAll(const responseExpected: boolean)¶

Parameters:	responseExpected – Type: boolean

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

function TBrickletServoV2.SetBootloaderMode(const mode: byte): byte¶

Parameters:	mode – Type: byte, Range: See constants
Returns:	status – Type: byte, Range: See constants

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

BRICKLET_SERVO_V2_BOOTLOADER_MODE_BOOTLOADER = 0
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE = 1
BRICKLET_SERVO_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

BRICKLET_SERVO_V2_BOOTLOADER_STATUS_OK = 0
BRICKLET_SERVO_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
BRICKLET_SERVO_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
BRICKLET_SERVO_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
BRICKLET_SERVO_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
BRICKLET_SERVO_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5

function TBrickletServoV2.GetBootloaderMode: byte¶

Returns:	mode – Type: byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

For mode:

BRICKLET_SERVO_V2_BOOTLOADER_MODE_BOOTLOADER = 0
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE = 1
BRICKLET_SERVO_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
BRICKLET_SERVO_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

procedure TBrickletServoV2.SetWriteFirmwarePointer(const pointer: longword)¶

Parameters:	pointer – Type: longword, Unit: 1 B, Range: [0 to 2³² - 1]

Sets the firmware pointer for WriteFirmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

function TBrickletServoV2.WriteFirmware(const data: array [0..63] of byte): byte¶

Parameters:	data – Type: array [0..63] of byte, Range: [0 to 255]
Returns:	status – Type: byte, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

procedure TBrickletServoV2.WriteUID(const uid: longword)¶

Parameters:	uid – Type: longword, Range: [0 to 2³² - 1]

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

function TBrickletServoV2.ReadUID: longword¶

Returns:	uid – Type: longword, Range: [0 to 2³² - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

const BRICKLET_SERVO_V2_DEVICE_IDENTIFIER¶

This constant is used to identify a Servo Bricklet 2.0.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_SERVO_V2_DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Servo Bricklet 2.0.