Services

The PhidgetServo node provides the following device services:

• phidgetServo_getEngaged
  • Service Type : corobot_srvs::GetEngaged
  • Get the status of a servo motor connected, to know if it is engaged ( powered on) or not.

• phidgetServo_setEngaged
  • Service Type : corobot_srvs::SetEngaged
  • Set the status of a servo motor, engaged( powered on) or not.

• phidgetServo_getPosition
  • Service Type : corobot_srvs::GetPosition
  • Get the position of a servo motor.

• phidgetServo_setPosition
  • Service Type : corobot_srvs::SetPosition
  • Set the position of a servo motor.

• phidgetServo_getPositionMax
  • Service Type : corobot_srvs::GetPosition
  • Get the maximum position possible of a servo motor.

• phidgetServo_getPositionMin
  • Service Type : corobot_srvs::GetPosition
  • Get the minimum position possible of a servo motor

• phidgetServo_getMotorCount
  • Service Type : corobot_srvs::GetMotorCount
  • Get the maximum number of servo motors that can be connected to this Phidget Servo controller.

• phidgetServo_setServoParameters
  • Service Type : corobot_srvs::SetParam
  • Get the parameters of a servo motor.

• phidgetServo_getSerialNumber
  • Service Type : corobot_srvs::GetSerialNumber
  • Get the serial number of the current phidget servo controller. Useful if there are two phidget servo controllers connected.

• phidgetServo_getServoType
  • Service Type : corobot_srvs::GetType
  • Get the type of servo motor pluged in

• phidgetServo_setServoType
  • Service Type : corobot_srvs::SetType
  • Set the servo motor to one of the defined types

Topics

Input

• phidgetServo_setPosition
  • Topic type: corobot_msgs::GetPosition
  • Set the position possible of a servo motor

• phidgetServo_setType
  • Topic Type : corobot_msgs::ServoType
  • The type of the concerned servo motor is set each time a message is received on this topic.

Output

• phidgetServo_getPosition
  • Message Type : corobot_msgs::ServoPosition
  • Get the position possible of a servo motor

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