Software / API Bindings / Mathematica / API Reference and Examples / Bricks (Discontinued) / Servo Brick

Mathematica - Servo Brick¶

This is the description of the Mathematica API bindings for the Servo Brick. General information and technical specifications for the Servo Brick are summarized in its hardware description.

An installation guide for the Mathematica API bindings is part of their general description.

Examples¶

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

Callback¶

Download (ExampleCallback.nb)

Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Servo Brick*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
servo=NETNew["Tinkerforge.BrickServo",uid,ipcon]
ipcon@Connect[host,port]

(*Use position reached callback to swing back and forth*)
PositionReachedCB[sender_,servoNum_,position_]:=
 Module[{},
  If[position==9000,
   Print["Position: 90°, going to -90°"];
   sender@SetPosition[servoNum,-9000]
  ];
  If[position==-9000,
   Print["Position: -90°, going to 90°"];
   sender@SetPosition[servoNum,9000]
  ]
 ]

AddEventHandler[servo@PositionReachedCallback,PositionReachedCB]

(*Enable position reached callback*)
servo@EnablePositionReachedCallback[]

(*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*)
servo@SetVelocity[0,10000]
servo@SetPosition[0,9000]
servo@Enable[0]

Input["Click OK to exit"]

servo@Disable[0]

ipcon@Disconnect[]
ReleaseNETObject[servo]
ReleaseNETObject[ipcon]

Configuration¶

Download (ExampleConfiguration.nb)

Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Servo Brick*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
servo=NETNew["Tinkerforge.BrickServo",uid,ipcon]
ipcon@Connect[host,port]

(*Configure two servos with voltage 5.5V*)
(*Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms*)
(*         and operating angle -100 to 100°*)
(*Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 *)
(*         to 1.95ms and operating angle -90 to 90°*)
servo@SetOutputVoltage[5500]

servo@SetDegree[0,-10000,10000]
servo@SetPulseWidth[0,1000,2000]
servo@SetPeriod[0,19500]
servo@SetAcceleration[0,1000](*Slow acceleration*)
servo@SetVelocity[0,65535](*Full speed*)

servo@SetDegree[5,-9000,9000]
servo@SetPulseWidth[5,950,1950]
servo@SetPeriod[5,20000]
servo@SetAcceleration[5,65535](*Full acceleration*)
servo@SetVelocity[5,65535](*Full speed*)

servo@SetPosition[0,10000](*Set to most right position*)
servo@Enable[0]

servo@SetPosition[5,-9000](*Set to most left position*)
servo@Enable[5]

Input["Click OK to exit"]

servo@Disable[0]
servo@Disable[5]

ipcon@Disconnect[]
ReleaseNETObject[servo]
ReleaseNETObject[ipcon]

API¶

Generally, every function of the Mathematica bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since .NET/Link does not support multiple return values directly, we use the out keyword to return multiple values from a function. For further information about the out keyword in .NET/Link see the corresponding Mathematica .NET/Link documentation.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

Every function of the Servo Brick API that has a servo_num parameter can address a servo with the servo number (0 to 6). 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 << 7) will address servos 1 and 5, 0xFF will address all seven servos, etc. 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¶

BrickServo[uid, ipcon] → servo¶

Parameters:	uid – Type: String ipcon – Type: NETObject[IPConnection]
Returns:	servo – Type: NETObject[BrickServo]

Creates an object with the unique device ID uid:

servo=NETNew["Tinkerforge.BrickServo","YOUR_DEVICE_UID",ipcon]

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

The .NET runtime has built-in garbage collection that frees objects that are no longer in use by a program. But because Mathematica can not automatically tell when a Mathematica "program" doesn't use a .NET object anymore, this has to be done by the program. For this the ReleaseNETObject[] function is used in the examples.

For further information about object management in .NET/Link see the corresponding Mathematica .NET/Link documentation.

BrickServo@Enable[servoNum] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255]

Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

BrickServo@Disable[servoNum] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255]

Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a disabled servo will not hold its position if a load is applied.

BrickServo@IsEnabled[servoNum] → enabled¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	enabled – Type: True/False, Default: False

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

BrickServo@SetPosition[servoNum, position] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] position – Type: Integer, Unit: 1/100 °, Range: ?

Sets the position for the specified servo.

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[].

BrickServo@GetPosition[servoNum] → position¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	position – Type: Integer, Unit: 1/100 °, Range: ?

Returns the position of the specified servo as set by SetPosition[].

BrickServo@GetCurrentPosition[servoNum] → position¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	position – Type: Integer, Unit: 1/100 °, Range: ?

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

BrickServo@SetVelocity[servoNum, velocity] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] velocity – Type: Integer, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Sets the maximum velocity of the specified servo. The velocity is accelerated according to the value set by SetAcceleration[].

The minimum velocity is 0 (no movement) and the maximum velocity is 65535. With a value of 65535 the position will be set immediately (no velocity).

BrickServo@GetVelocity[servoNum] → velocity¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	velocity – Type: Integer, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the velocity of the specified servo as set by SetVelocity[].

BrickServo@GetCurrentVelocity[servoNum] → velocity¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	velocity – Type: Integer, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the current velocity of the specified servo. This may not be the value of SetVelocity[] if the servo is currently approaching a velocity goal.

BrickServo@SetAcceleration[servoNum, acceleration] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] acceleration – Type: Integer, Unit: 1/100 °/s², Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Sets the acceleration of the specified servo.

The minimum acceleration is 1 and the maximum acceleration is 65535. With a value of 65535 the velocity will be set immediately (no acceleration).

BrickServo@GetAcceleration[servoNum] → acceleration¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	acceleration – Type: Integer, Unit: 1/100 °/s², Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the acceleration for the specified servo as set by SetAcceleration[].

BrickServo@SetOutputVoltage[voltage] → Null¶

Parameters:	voltage – Type: Integer, Unit: 1 mV, Range: [2000 to 9000], Default: 5000

Sets the output voltages with which the servos are driven.

Note

We recommend that you set this value to the maximum voltage that is specified for your servo, most servos achieve their maximum force only with high voltages.

BrickServo@GetOutputVoltage[] → voltage¶

Returns:	voltage – Type: Integer, Unit: 1 mV, Range: [2000 to 9000], Default: 5000

Returns the output voltage as specified by SetOutputVoltage[].

BrickServo@SetPulseWidth[servoNum, min, max] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] min – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 1000 max – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 2000

Sets the minimum and maximum pulse width of the specified servo.

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.

The minimum must be smaller than the maximum.

BrickServo@GetPulseWidth[servoNum, out min, out max] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Output Parameters:	min – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 1000 max – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 2000

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

BrickServo@SetDegree[servoNum, min, max] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] min – Type: Integer, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 max – Type: Integer, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000

Sets the minimum and maximum degree for the specified servo (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.

The minimum must be smaller than the maximum.

BrickServo@GetDegree[servoNum, out min, out max] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Output Parameters:	min – Type: Integer, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 max – Type: Integer, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000

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

BrickServo@SetPeriod[servoNum, period] → Null¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6, 128 to 255] period – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 19500

Sets the period of the specified servo.

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 will most likely work fine.

BrickServo@GetPeriod[servoNum] → period¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	period – Type: Integer, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 19500

Returns the period for the specified servo as set by SetPeriod[].

BrickServo@GetServoCurrent[servoNum] → current¶

Parameters:	servoNum – Type: Integer, Range: [0 to 6]
Returns:	current – Type: Integer, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of the specified servo.

BrickServo@GetOverallCurrent[] → current¶

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

Returns the current consumption of all servos together.

BrickServo@GetStackInputVoltage[] → voltage¶

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

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

BrickServo@GetExternalInputVoltage[] → voltage¶

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

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

If there is an external input voltage and a stack input voltage, the motors will be driven by the external input voltage. If there is only a stack voltage present, the motors will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motors will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage

Advanced Functions¶

BrickServo@SetSPITFPBaudrateConfig[enableDynamicBaudrate, minimumDynamicBaudrate] → Null¶

Parameters:	enableDynamicBaudrate – Type: True/False, Default: True minimumDynamicBaudrate – Type: Integer, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function SetSPITFPBaudrate[]. If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate[] will be used statically.

New in version 2.3.4 (Firmware).

BrickServo@GetSPITFPBaudrateConfig[out enableDynamicBaudrate, out minimumDynamicBaudrate] → Null¶

Output Parameters:	enableDynamicBaudrate – Type: True/False, Default: True minimumDynamicBaudrate – Type: Integer, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see SetSPITFPBaudrateConfig[].

New in version 2.3.4 (Firmware).

BrickServo@GetSendTimeoutCount[communicationMethod] → timeoutCount¶

Parameters:	communicationMethod – Type: Integer, Range: See constants
Returns:	timeoutCount – Type: Integer, Range: [0 to 2³² - 1]

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

The following constants are available for this function:

For communicationMethod:

BrickServo`COMMUNICATIONUMETHODUNONE = 0
BrickServo`COMMUNICATIONUMETHODUUSB = 1
BrickServo`COMMUNICATIONUMETHODUSPIUSTACK = 2
BrickServo`COMMUNICATIONUMETHODUCHIBI = 3
BrickServo`COMMUNICATIONUMETHODURS485 = 4
BrickServo`COMMUNICATIONUMETHODUWIFI = 5
BrickServo`COMMUNICATIONUMETHODUETHERNET = 6
BrickServo`COMMUNICATIONUMETHODUWIFIUV2 = 7

New in version 2.3.2 (Firmware).

BrickServo@SetSPITFPBaudrate[brickletPort, baudrate] → Null¶

Parameters:	brickletPort – Type: Integer, Range: [ToCharacterCode["a"][[0]] to ToCharacterCode["b"][[0]]] baudrate – Type: Integer, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see GetSPITFPErrorCount[]) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see SetSPITFPBaudrateConfig[]).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

New in version 2.3.2 (Firmware).

BrickServo@GetSPITFPBaudrate[brickletPort] → baudrate¶

Parameters:	brickletPort – Type: Integer, Range: [ToCharacterCode["a"][[0]] to ToCharacterCode["b"][[0]]]
Returns:	baudrate – Type: Integer, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate[].

New in version 2.3.2 (Firmware).

BrickServo@GetSPITFPErrorCount[brickletPort, out errorCountACKChecksum, out errorCountMessageChecksum, out errorCountFrame, out errorCountOverflow] → Null¶

Parameters:	brickletPort – Type: Integer, Range: [ToCharacterCode["a"][[0]] to ToCharacterCode["b"][[0]]]
Output Parameters:	errorCountACKChecksum – Type: Integer, Range: [0 to 2³² - 1] errorCountMessageChecksum – Type: Integer, Range: [0 to 2³² - 1] errorCountFrame – Type: Integer, Range: [0 to 2³² - 1] errorCountOverflow – Type: Integer, 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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.3.2 (Firmware).

BrickServo@EnableStatusLED[] → Null¶

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo@DisableStatusLED[] → Null¶

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo@IsStatusLEDEnabled[] → enabled¶

Returns:	enabled – Type: True/False, Default: True

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

BrickServo@GetChipTemperature[] → temperature¶

Returns:	temperature – Type: Integer, Unit: 1/10 °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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

BrickServo@Reset[] → Null¶

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

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

BrickServo@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] → Null¶

Output Parameters:

Output Parameters:	uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: Integer, Range: [ToCharacterCode["0"][[0]] to ToCharacterCode["8"][[0]]] hardwareVersioni – Type: Integer 1: major – Type: Integer, Range: [0 to 255] 2: minor – Type: Integer, Range: [0 to 255] 3: revision – Type: Integer, Range: [0 to 255] firmwareVersioni – Type: Integer 1: major – Type: Integer, Range: [0 to 255] 2: minor – Type: Integer, Range: [0 to 255] 3: revision – Type: Integer, Range: [0 to 255] deviceIdentifier – Type: Integer, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connectedUid – Type: String, Length: up to 8
position – Type: Integer, Range: [ToCharacterCode["0"][[0]] to ToCharacterCode["8"][[0]]]
hardwareVersioni – Type: Integer

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

firmwareVersioni – Type: Integer

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

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

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

The position is the position in the stack from '0' (bottom) to '8' (top).

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

Callback Configuration Functions¶

BrickServo@SetMinimumVoltage[voltage] → Null¶

Parameters:	voltage – Type: Integer, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 5000

Sets the minimum voltage, below which the UnderVoltageCallback callback is triggered. The minimum possible value that works with the Servo Brick is 5V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

BrickServo@GetMinimumVoltage[] → voltage¶

Returns:	voltage – Type: Integer, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 5000

Returns the minimum voltage as set by SetMinimumVoltage[]

BrickServo@EnablePositionReachedCallback[] → Null¶

Enables the PositionReachedCallback callback.

Default is disabled.