Visual Basic .NET - Servo Bricklet 2.0¶

Configuration¶

Download (ExampleConfiguration.vb)

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Imports System
Imports Tinkerforge

Module ExampleConfiguration
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Servo Bricklet 2.0

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim s As New BrickletServoV2(UID, ipcon) ' Create device object

        ipcon.Connect(HOST, PORT) ' Connect to brickd
        ' 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)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()

        s.SetEnable(0, False)
        s.SetEnable(5, False)

        ipcon.Disconnect()
    End Sub
End Module

Callback¶

Download (ExampleCallback.vb)

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Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Servo Bricklet 2.0

    ' Use position reached callback to swing back and forth
    Sub PositionReachedCB(ByVal sender As BrickletServoV2, _
                          ByVal servoChannel As Integer, ByVal position As Short)
        If position = 9000 Then
            Console.WriteLine("Position: 90°, going to -90°")
            sender.SetPosition(servoChannel, -9000)
        Else If position = -9000 Then
            Console.WriteLine("Position: -90°, going to 90°")
            sender.SetPosition(servoChannel, 9000)
        Else
            ' Can only happen if another program sets position
            Console.WriteLine("Error")
        End If
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim s As New BrickletServoV2(UID, ipcon) ' Create device object

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

        ' Register position reached callback to subroutine PositionReachedCB
        AddHandler s.PositionReachedCallback, AddressOf 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)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()

        s.SetEnable(0, False)

        ipcon.Disconnect()
    End Sub
End Module

Basic Functions¶

Class BrickletServoV2(ByVal uid As String, ByVal ipcon As IPConnection)¶

Creates an object with the unique device ID uid:

Dim servoV2 As New BrickletServoV2("YOUR_DEVICE_UID", ipcon)

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

Sub BrickletServoV2.GetStatus(ByRef enabled() As Boolean, ByRef currentPosition() As Short, ByRef currentVelocity() As Short, ByRef current() As Integer, ByRef inputVoltage As Integer)¶

Output Parameters:	enabled – Type: Boolean Array, Length: 10 currentPosition – Type: Short Array, Length: 10, Unit: 1/100 °, Range: ? currentVelocity – Type: Short Array, Length: 10, Unit: 1/100 °/s, Range: [0 to 500000] current – Type: Integer Array, Length: 10, Unit: 1 mA, Range: [0 to 216 - 1] inputVoltage – Type: Integer, 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.

Sub BrickletServoV2.SetEnable(ByVal servoChannel As Integer, ByVal enable As Boolean)¶

Parameters:	servoChannel – Type: Integer, 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 BrickletServoV2.GetEnabled(ByVal servoChannel As Integer) As Boolean¶

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

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

Sub BrickletServoV2.SetPosition(ByVal servoChannel As Integer, ByVal position As Short)¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9, 215 to 33791] position – Type: Short, 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 BrickletServoV2.GetPosition(ByVal servoChannel As Integer) As Short¶

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

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

Function BrickletServoV2.GetCurrentPosition(ByVal servoChannel As Integer) As Short¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9]
Returns:	position – Type: Short, 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 BrickletServoV2.GetCurrentVelocity(ByVal servoChannel As Integer) As Integer¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9]
Returns:	velocity – Type: Integer, 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.

Sub BrickletServoV2.SetMotionConfiguration(ByVal servoChannel As Integer, ByVal velocity As Long, ByVal acceleration As Long, ByVal deceleration As Long)¶

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

Sub BrickletServoV2.GetMotionConfiguration(ByVal servoChannel As Integer, ByRef velocity As Long, ByRef acceleration As Long, ByRef deceleration As Long)¶

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

Returns the motion configuration as set by SetMotionConfiguration().

Sub BrickletServoV2.SetPulseWidth(ByVal servoChannel As Integer, ByVal min As Long, ByVal max As Long)¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9, 215 to 33791] min – Type: Long, Unit: 1 µs, Range: [0 to 232 - 1], Default: 1000 max – Type: Long, 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.

Sub BrickletServoV2.GetPulseWidth(ByVal servoChannel As Integer, ByRef min As Long, ByRef max As Long)¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9]
Output Parameters:	min – Type: Long, Unit: 1 µs, Range: [0 to 232 - 1], Default: 1000 max – Type: Long, 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().

Sub BrickletServoV2.SetDegree(ByVal servoChannel As Integer, ByVal min As Short, ByVal max As Short)¶

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

Sub BrickletServoV2.GetDegree(ByVal servoChannel As Integer, ByRef min As Short, ByRef max As Short)¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9]
Output Parameters:	min – Type: Short, Unit: 1/100 °, Range: [-215 to 215 - 1], Default: -9000 max – Type: Short, 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().

Sub BrickletServoV2.SetPeriod(ByVal servoChannel As Integer, ByVal period As Long)¶

Parameters:	servoChannel – Type: Integer, Range: [0 to 9, 215 to 33791] period – Type: Long, 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 BrickletServoV2.GetPeriod(ByVal servoChannel As Integer) As Long¶

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

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

Function BrickletServoV2.GetServoCurrent(ByVal servoChannel As Integer) As Integer¶

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

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

Sub BrickletServoV2.SetServoCurrentConfiguration(ByVal servoChannel As Integer, ByVal averagingDuration As Byte)¶

Parameters:	servoChannel – Type: Integer, 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 BrickletServoV2.GetServoCurrentConfiguration(ByVal servoChannel As Integer) As Byte¶

Parameters:	servoChannel – Type: Integer, 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().

Sub BrickletServoV2.SetInputVoltageConfiguration(ByVal averagingDuration As 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 BrickletServoV2.GetInputVoltageConfiguration() As Byte¶

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

Returns the input voltage configuration as set by SetInputVoltageConfiguration().

Function BrickletServoV2.GetOverallCurrent() As Integer¶

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

Returns the current consumption of all servos together in mA.

Function BrickletServoV2.GetInputVoltage() As Integer¶

Returns:	voltage – Type: Integer, 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¶

Sub BrickletServoV2.SetCurrentCalibration(ByVal offset() As Short)¶

Parameters:	offset – Type: Short Array, Length: 10, 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 BrickletServoV2.GetCurrentCalibration() As Short()¶

Returns:	offset – Type: Short Array, Length: 10, Unit: 1 mA, Range: [-215 to 215 - 1]

Returns the current calibration as set by SetCurrentCalibration().

Sub BrickletServoV2.GetSPITFPErrorCount(ByRef errorCountAckChecksum As Long, ByRef errorCountMessageChecksum As Long, ByRef errorCountFrame As Long, ByRef errorCountOverflow As Long)¶

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

Sub BrickletServoV2.SetStatusLEDConfig(ByVal config As 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:

• BrickletServoV2.STATUS_LED_CONFIG_OFF = 0
• BrickletServoV2.STATUS_LED_CONFIG_ON = 1
• BrickletServoV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletServoV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletServoV2.GetStatusLEDConfig() As 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:

• BrickletServoV2.STATUS_LED_CONFIG_OFF = 0
• BrickletServoV2.STATUS_LED_CONFIG_ON = 1
• BrickletServoV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletServoV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletServoV2.GetChipTemperature() As Short¶

Returns:	temperature – Type: Short, 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.

Sub BrickletServoV2.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!

Sub BrickletServoV2.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)¶

Output Parameters:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: Char, Range: ["a"C to "h"C, "z"C] hardwareVersion – Type: Byte Array, Length: 3 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: Byte Array, Length: 3 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: Integer, 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¶

Sub BrickletServoV2.SetPositionReachedCallbackConfiguration(ByVal servoChannel As Integer, ByVal enabled As Boolean)¶

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

Enable/Disable PositionReachedCallback callback.

Function BrickletServoV2.GetPositionReachedCallbackConfiguration(ByVal servoChannel As Integer) As Boolean¶

Parameters:	servoChannel – Type: Integer, 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:

Sub MyCallback(ByVal sender As BrickletServoV2, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler servoV2.ExampleCallback, AddressOf MyCallback

The available callback property and their type of parameters are described below.

Event BrickletServoV2.PositionReachedCallback(ByVal sender As BrickletServoV2, ByVal servoChannel As Integer, ByVal position As Short)¶

Callback Parameters:	sender – Type: BrickletServoV2 servoChannel – Type: Integer, Range: [0 to 9] position – Type: Short, 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 BrickletServoV2.GetAPIVersion() As Byte()¶

Output Parameters:	apiVersion – Type: Byte Array, Length: 3 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 BrickletServoV2.GetResponseExpected(ByVal functionId As Byte) As 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:

• BrickletServoV2.FUNCTION_SET_ENABLE = 2
• BrickletServoV2.FUNCTION_SET_POSITION = 4
• BrickletServoV2.FUNCTION_SET_MOTION_CONFIGURATION = 8
• BrickletServoV2.FUNCTION_SET_PULSE_WIDTH = 10
• BrickletServoV2.FUNCTION_SET_DEGREE = 12
• BrickletServoV2.FUNCTION_SET_PERIOD = 14
• BrickletServoV2.FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
• BrickletServoV2.FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
• BrickletServoV2.FUNCTION_SET_CURRENT_CALIBRATION = 23
• BrickletServoV2.FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
• BrickletServoV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletServoV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletServoV2.FUNCTION_RESET = 243
• BrickletServoV2.FUNCTION_WRITE_UID = 248

Sub BrickletServoV2.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As 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.

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:

• BrickletServoV2.FUNCTION_SET_ENABLE = 2
• BrickletServoV2.FUNCTION_SET_POSITION = 4
• BrickletServoV2.FUNCTION_SET_MOTION_CONFIGURATION = 8
• BrickletServoV2.FUNCTION_SET_PULSE_WIDTH = 10
• BrickletServoV2.FUNCTION_SET_DEGREE = 12
• BrickletServoV2.FUNCTION_SET_PERIOD = 14
• BrickletServoV2.FUNCTION_SET_SERVO_CURRENT_CONFIGURATION = 17
• BrickletServoV2.FUNCTION_SET_INPUT_VOLTAGE_CONFIGURATION = 19
• BrickletServoV2.FUNCTION_SET_CURRENT_CALIBRATION = 23
• BrickletServoV2.FUNCTION_SET_POSITION_REACHED_CALLBACK_CONFIGURATION = 25
• BrickletServoV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletServoV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletServoV2.FUNCTION_RESET = 243
• BrickletServoV2.FUNCTION_WRITE_UID = 248

Sub BrickletServoV2.SetResponseExpectedAll(ByVal responseExpected As 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 BrickletServoV2.SetBootloaderMode(ByVal mode As Byte) As 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:

• BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletServoV2.BOOTLOADER_STATUS_OK = 0
• BrickletServoV2.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletServoV2.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletServoV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletServoV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletServoV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5

Function BrickletServoV2.GetBootloaderMode() As 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:

• BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletServoV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletServoV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

Sub BrickletServoV2.SetWriteFirmwarePointer(ByVal pointer As Long)¶

Parameters:	pointer – Type: Long, 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 BrickletServoV2.WriteFirmware(ByVal data() As Byte) As Byte¶

Parameters:	data – Type: Byte Array, Length: 64, 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.

Sub BrickletServoV2.WriteUID(ByVal uid As Long)¶

Parameters:	uid – Type: Long, 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 BrickletServoV2.ReadUID() As Long¶

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

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

Constants¶

Const BrickletServoV2.DEVICE_IDENTIFIER¶

This constant is used to identify a Servo Bricklet 2.0.

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

Const BrickletServoV2.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Servo Bricklet 2.0.