#include <yocto_servo.h>

Inheritance diagram for YServo:

Public Member Functions
virtual int	_invokeValueCallback (string value)

Y_ENABLED_enum	enabled (void)

Y_ENABLEDATPOWERON_enum	enabledAtPowerOn (void)

Y_ENABLED_enum	get_enabled (void)

Y_ENABLEDATPOWERON_enum	get_enabledAtPowerOn (void)

YMove	get_move (void)

int	get_neutral (void)

int	get_position (void)

int	get_positionAtPowerOn (void)

int	get_range (void)

YMove	move (void)

int	move (int target, int ms_duration)

int	neutral (void)

YServo *	next (void)

YServo *	nextServo (void)

int	position (void)

int	positionAtPowerOn (void)

int	range (void)

virtual int	registerValueCallback (YServoValueCallback callback)

int	set_enabled (Y_ENABLED_enum newval)

int	set_enabledAtPowerOn (Y_ENABLEDATPOWERON_enum newval)

int	set_move (YMove newval)

int	set_neutral (int newval)

int	set_position (int newval)

int	set_positionAtPowerOn (int newval)

int	set_range (int newval)

int	setEnabled (Y_ENABLED_enum newval)

int	setEnabledAtPowerOn (Y_ENABLEDATPOWERON_enum newval)

int	setMove (YMove newval)

int	setNeutral (int newval)

int	setPosition (int newval)

int	setPositionAtPowerOn (int newval)

int	setRange (int newval)

	~YServo ()

Public Member Functions inherited from YFunction
void	_clearDataStreamCache ()

string	_decode_json_string (const string &json)

string	_download (const string &url)

YDataStream *	_findDataStream (YDataSet &dataset, const string &def)

string	_get_json_path (const string &json, const string &path)

vector< string >	_json_get_array (const string &json)

string	_json_get_key (const string &json, const string &data)

string	_json_get_string (const string &json)

int	_parseEx (yJsonStateMachine &j)

virtual int	_parserHelper (void)

string	_parseString (yJsonStateMachine &j)

string	_request (const string &request)

string	_requestEx (int tcpchan, const string &request, yapiRequestProgressCallback callback, void *context)

void	_throw (YRETCODE errType, string errMsg)

YRETCODE	_upload (const string &path, const string &content)

YRETCODE	_uploadWithProgress (const string &path, const string &content, yapiRequestProgressCallback callback, void *context)

string	advertisedValue (void)

void	clearCache ()

string	describe (void)

string	errMessage (void)

string	errorMessage (void)

YRETCODE	errorType (void)

YRETCODE	errType (void)

YFUN_DESCR	functionDescriptor (void)

string	get_advertisedValue (void)

string	get_errorMessage (void)

YRETCODE	get_errorType (void)

virtual string	get_friendlyName (void)

YFUN_DESCR	get_functionDescriptor (void)

string	get_functionId (void)

string	get_hardwareId (void)

string	get_hubSerial ()

string	get_logicalName (void)

YModule *	get_module (void)

void *	get_userData (void)

bool	isOnline (void)

YRETCODE	load (int msValidity)

virtual string	loadAttribute (string attrName)

string	logicalName (void)

YModule *	module (void)

virtual int	muteValueCallbacks (void)

YFunction *	next (void)

YFunction *	nextFunction (void)

virtual int	registerValueCallback (YFunctionValueCallback callback)

int	set_advertisedValue (const string &newval)

int	set_logicalName (const string &newval)

void	set_userData (void *data)

int	setAdvertisedValue (const string &newval)

int	setLogicalName (const string &newval)

void	setUserData (void *data)

virtual int	unmuteValueCallbacks (void)

void *	userData (void)

virtual	~YFunction ()

Static Public Member Functions
static YServo *	Find (string func)

static YServo *	FindServo (string func)

static YServo *	First (void)

static YServo *	FirstServo (void)

Static Public Member Functions inherited from YFunction
static void	_ClearCache (void)

static YFunction *	Find (string func)

static YFunction *	FindFunction (string func)

static YFunction *	First (void)

static YFunction *	FirstFunction (void)

Static Public Attributes
static const Y_ENABLED_enum	ENABLED_FALSE = Y_ENABLED_FALSE

static const Y_ENABLED_enum	ENABLED_INVALID = Y_ENABLED_INVALID

static const Y_ENABLED_enum	ENABLED_TRUE = Y_ENABLED_TRUE

static const Y_ENABLEDATPOWERON_enum	ENABLEDATPOWERON_FALSE = Y_ENABLEDATPOWERON_FALSE

static const Y_ENABLEDATPOWERON_enum	ENABLEDATPOWERON_INVALID = Y_ENABLEDATPOWERON_INVALID

static const Y_ENABLEDATPOWERON_enum	ENABLEDATPOWERON_TRUE = Y_ENABLEDATPOWERON_TRUE

static const YMove	MOVE_INVALID = YMove()

static const int	NEUTRAL_INVALID = YAPI_INVALID_UINT

static const int	POSITION_INVALID = YAPI_INVALID_INT

static const int	POSITIONATPOWERON_INVALID = YAPI_INVALID_INT

static const int	RANGE_INVALID = YAPI_INVALID_UINT

Static Public Attributes inherited from YFunction
static const string	ADVERTISEDVALUE_INVALID = YAPI_INVALID_STRING

static const string	FRIENDLYNAME_INVALID = YAPI_INVALID_STRING

static const YFUN_DESCR	FUNCTIONDESCRIPTOR_INVALID = Y_FUNCTIONDESCRIPTOR_INVALID

static const string	FUNCTIONID_INVALID = YAPI_INVALID_STRING

static const string	HARDWAREID_INVALID = YAPI_INVALID_STRING

static const string	LOGICALNAME_INVALID = YAPI_INVALID_STRING

Protected Member Functions
virtual int	_parseAttr (YJSONObject *json_val)

	YServo (const string &func)

Protected Member Functions inherited from YFunction
YRETCODE	_buildSetRequest (const string &changeattr, const string *changeval, string &request, string &errmsg)

string	_escapeAttr (const string &changeval)

YRETCODE	_getDescriptor (YFUN_DESCR &fundescr, string &errMsg)

YRETCODE	_getDevice (YDevice *&dev, string &errMsg)

YRETCODE	_load_unsafe (int msValidity)

YRETCODE	_nextFunction (string &hwId)

int	_parse (YJSONObject *j)

YRETCODE	_setAttr (string attrname, string newvalue)

	YFunction (const string &func)

Protected Attributes
Y_ENABLED_enum	_enabled

Y_ENABLEDATPOWERON_enum	_enabledAtPowerOn

YMove	_move

int	_neutral

int	_position

int	_positionAtPowerOn

int	_range

YServoValueCallback	_valueCallbackServo

Protected Attributes inherited from YFunction
string	_advertisedValue

u64	_cacheExpiration

string	_className

std::map< string, YDataStream * >	_dataStreams

string	_func

YFUN_DESCR	_fundescr

string	_funId

string	_hwId

string	_lastErrorMsg

YRETCODE	_lastErrorType

string	_logicalName

string	_serial

yCRITICAL_SECTION	_this_cs

void *	_userData

YFunctionValueCallback	_valueCallbackFunction

Friends
YServo *	yFindServo (const string &func)

YServo *	yFirstServo (void)

Additional Inherited Members
Static Protected Member Functions inherited from YFunction
static void	_AddToCache (const string &classname, const string &func, YFunction *obj)

static YFunction *	_FindFromCache (const string &classname, const string &func)

static void	_UpdateTimedReportCallbackList (YFunction *func, bool add)

static void	_UpdateValueCallbackList (YFunction *func, bool add)

Static Protected Attributes inherited from YFunction
static std::map< string, YFunction * >	_cache

Detailed Description

YServo Class: Servo function interface

Yoctopuce application programming interface allows you not only to move a servo to a given position, but also to specify the time interval in which the move should be performed. This makes it possible to synchronize two servos involved in a same move.

Definition at line 103 of file yocto_servo.h.

Constructor & Destructor Documentation

YServo::YServo ( const string & func )

protected

Definition at line 51 of file yocto_servo.cpp.

YServo::~YServo ( )

Definition at line 66 of file yocto_servo.cpp.

Member Function Documentation

int YServo::_invokeValueCallback ( string value )

virtual

Reimplemented from YFunction.

Definition at line 583 of file yocto_servo.cpp.

int YServo::_parseAttr ( YJSONObject * json_val )

protectedvirtual

Reimplemented from YFunction.

Definition at line 75 of file yocto_servo.cpp.

Y_ENABLED_enum YServo::enabled ( void )

inline

Definition at line 180 of file yocto_servo.h.

Y_ENABLEDATPOWERON_enum YServo::enabledAtPowerOn ( void )

inline

Definition at line 315 of file yocto_servo.h.

static YServo* YServo::Find ( string func )

inlinestatic

Definition at line 378 of file yocto_servo.h.

YServo * YServo::FindServo ( string func )

static

Retrieves a servo for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the servo is online at the time it is invoked. The returned object is nevertheless valid. Use the method YServo.isOnline() to test if the servo is indeed online at a given time. In case of ambiguity when looking for a servo by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the servo

Returns: a YServo object allowing you to drive the servo.

Definition at line 532 of file yocto_servo.cpp.

static YServo* YServo::First ( void )

inlinestatic

Definition at line 402 of file yocto_servo.h.

YServo * YServo::FirstServo ( void )

static

Starts the enumeration of servos currently accessible. Use the method YServo.nextServo() to iterate on next servos.

Returns: a pointer to a YServo object, corresponding to the first servo currently online, or a NULL pointer if there are none.

Definition at line 603 of file yocto_servo.cpp.

Y_ENABLED_enum YServo::get_enabled ( void )

Returns the state of the servos.

Returns: either Y_ENABLED_FALSE or Y_ENABLED_TRUE, according to the state of the servos

On failure, throws an exception or returns Y_ENABLED_INVALID.

Definition at line 172 of file yocto_servo.cpp.

Y_ENABLEDATPOWERON_enum YServo::get_enabledAtPowerOn ( void )

Returns the servo signal generator state at power up.

Returns: either Y_ENABLEDATPOWERON_FALSE or Y_ENABLEDATPOWERON_TRUE, according to the servo signal generator state at power up

On failure, throws an exception or returns Y_ENABLEDATPOWERON_INVALID.

Definition at line 457 of file yocto_servo.cpp.

YMove YServo::get_move ( void )

Definition at line 339 of file yocto_servo.cpp.

int YServo::get_neutral ( void )

Returns the duration in microseconds of a neutral pulse for the servo.

Returns: an integer corresponding to the duration in microseconds of a neutral pulse for the servo

On failure, throws an exception or returns Y_NEUTRAL_INVALID.

Definition at line 286 of file yocto_servo.cpp.

int YServo::get_position ( void )

Returns the current servo position.

Returns: an integer corresponding to the current servo position

On failure, throws an exception or returns Y_POSITION_INVALID.

Definition at line 118 of file yocto_servo.cpp.

int YServo::get_positionAtPowerOn ( void )

Returns the servo position at device power up.

Returns: an integer corresponding to the servo position at device power up

On failure, throws an exception or returns Y_POSITIONATPOWERON_INVALID.

Definition at line 401 of file yocto_servo.cpp.

int YServo::get_range ( void )

Returns the current range of use of the servo.

Returns: an integer corresponding to the current range of use of the servo

On failure, throws an exception or returns Y_RANGE_INVALID.

Definition at line 226 of file yocto_servo.cpp.

YMove YServo::move ( void )

inline

Definition at line 260 of file yocto_servo.h.

int YServo::move	(	int	target,
		int	ms_duration
	)

Performs a smooth move at constant speed toward a given position.

Parameters

target	: new position at the end of the move
ms_duration	: total duration of the move, in milliseconds

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 387 of file yocto_servo.cpp.

int YServo::neutral ( void )

inline

Definition at line 236 of file yocto_servo.h.

YServo* YServo::next ( void )

inline

Definition at line 389 of file yocto_servo.h.

YServo * YServo::nextServo ( void )

Continues the enumeration of servos started using yFirstServo().

Returns: a pointer to a YServo object, corresponding to a servo currently online, or a NULL pointer if there are no more servos to enumerate.

Definition at line 593 of file yocto_servo.cpp.

int YServo::position ( void )

inline

Definition at line 155 of file yocto_servo.h.

int YServo::positionAtPowerOn ( void )

inline

Definition at line 288 of file yocto_servo.h.

int YServo::range ( void )

inline

Definition at line 205 of file yocto_servo.h.

int YServo::registerValueCallback ( YServoValueCallback callback )

virtual

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument.

Parameters

callback : the callback function to call, or a NULL pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

Definition at line 564 of file yocto_servo.cpp.

int YServo::set_enabled ( Y_ENABLED_enum newval )

Stops or starts the servo.

Parameters

newval : either Y_ENABLED_FALSE or Y_ENABLED_TRUE

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 203 of file yocto_servo.cpp.

int YServo::set_enabledAtPowerOn ( Y_ENABLEDATPOWERON_enum newval )

Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters

newval : either Y_ENABLEDATPOWERON_FALSE or Y_ENABLEDATPOWERON_TRUE

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 489 of file yocto_servo.cpp.

int YServo::set_move ( YMove newval )

Definition at line 361 of file yocto_servo.cpp.

int YServo::set_neutral ( int newval )

Changes the duration of the pulse corresponding to the neutral position of the servo. The duration is specified in microseconds, and the standard value is 1500 [us]. This setting makes it possible to shift the range of use of the servo. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters

newval : an integer corresponding to the duration of the pulse corresponding to the neutral position of the servo

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 323 of file yocto_servo.cpp.

int YServo::set_position ( int newval )

Changes immediately the servo driving position.

Parameters

newval : an integer corresponding to immediately the servo driving position

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 149 of file yocto_servo.cpp.

int YServo::set_positionAtPowerOn ( int newval )

Configure the servo position at device power up. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters

newval : an integer

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 433 of file yocto_servo.cpp.

int YServo::set_range ( int newval )

Changes the range of use of the servo, specified in per cents. A range of 100% corresponds to a standard control signal, that varies from 1 [ms] to 2 [ms], When using a servo that supports a double range, from 0.5 [ms] to 2.5 [ms], you can select a range of 200%. Be aware that using a range higher than what is supported by the servo is likely to damage the servo. Remember to call the matching module saveToFlash() method, otherwise this call will have no effect.

Parameters

newval : an integer corresponding to the range of use of the servo, specified in per cents

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 263 of file yocto_servo.cpp.

int YServo::setEnabled ( Y_ENABLED_enum newval )

inline

Definition at line 193 of file yocto_servo.h.

int YServo::setEnabledAtPowerOn ( Y_ENABLEDATPOWERON_enum newval )

inline

Definition at line 329 of file yocto_servo.h.

int YServo::setMove ( YMove newval )

inline

Definition at line 264 of file yocto_servo.h.

int YServo::setNeutral ( int newval )

inline

Definition at line 255 of file yocto_servo.h.

int YServo::setPosition ( int newval )

inline

Definition at line 168 of file yocto_servo.h.

int YServo::setPositionAtPowerOn ( int newval )

inline

Definition at line 302 of file yocto_servo.h.

int YServo::setRange ( int newval )

inline

Definition at line 224 of file yocto_servo.h.

Friends And Related Function Documentation

YServo* yFindServo ( const string & func )

friend

Retrieves a servo for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the servo is online at the time it is invoked. The returned object is nevertheless valid. Use the method YServo.isOnline() to test if the servo is indeed online at a given time. In case of ambiguity when looking for a servo by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the servo

Returns: a YServo object allowing you to drive the servo.

Definition at line 439 of file yocto_servo.h.

YServo* yFirstServo ( void )

friend

Starts the enumeration of servos currently accessible. Use the method YServo.nextServo() to iterate on next servos.

Returns: a pointer to a YServo object, corresponding to the first servo currently online, or a NULL pointer if there are none.

Definition at line 450 of file yocto_servo.h.

Member Data Documentation

Y_ENABLED_enum YServo::_enabled

protected

Definition at line 112 of file yocto_servo.h.

Y_ENABLEDATPOWERON_enum YServo::_enabledAtPowerOn

protected

Definition at line 117 of file yocto_servo.h.

YMove YServo::_move

protected

Definition at line 115 of file yocto_servo.h.

int YServo::_neutral

protected

Definition at line 114 of file yocto_servo.h.

int YServo::_position

protected

Definition at line 111 of file yocto_servo.h.

int YServo::_positionAtPowerOn

protected

Definition at line 116 of file yocto_servo.h.

int YServo::_range

protected

Definition at line 113 of file yocto_servo.h.

YServoValueCallback YServo::_valueCallbackServo

protected

Definition at line 118 of file yocto_servo.h.

const Y_ENABLED_enum YServo::ENABLED_FALSE = Y_ENABLED_FALSE

static

Definition at line 135 of file yocto_servo.h.

const Y_ENABLED_enum YServo::ENABLED_INVALID = Y_ENABLED_INVALID

static

Definition at line 137 of file yocto_servo.h.

const Y_ENABLED_enum YServo::ENABLED_TRUE = Y_ENABLED_TRUE

static

Definition at line 136 of file yocto_servo.h.

const Y_ENABLEDATPOWERON_enum YServo::ENABLEDATPOWERON_FALSE = Y_ENABLEDATPOWERON_FALSE

static

Definition at line 142 of file yocto_servo.h.

const Y_ENABLEDATPOWERON_enum YServo::ENABLEDATPOWERON_INVALID = Y_ENABLEDATPOWERON_INVALID

static

Definition at line 144 of file yocto_servo.h.

const Y_ENABLEDATPOWERON_enum YServo::ENABLEDATPOWERON_TRUE = Y_ENABLEDATPOWERON_TRUE

static

Definition at line 143 of file yocto_servo.h.

const YMove YServo::MOVE_INVALID = YMove()

static

Definition at line 140 of file yocto_servo.h.

const int YServo::NEUTRAL_INVALID = YAPI_INVALID_UINT

static

Definition at line 139 of file yocto_servo.h.

const int YServo::POSITION_INVALID = YAPI_INVALID_INT

static

Definition at line 134 of file yocto_servo.h.

const int YServo::POSITIONATPOWERON_INVALID = YAPI_INVALID_INT

static

Definition at line 141 of file yocto_servo.h.

const int YServo::RANGE_INVALID = YAPI_INVALID_UINT

static

Definition at line 138 of file yocto_servo.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation