/********************************************************************* * * $Id: svn_id $ * * Implements the high-level API for Servo functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ import { YAPIContext, YFunction } from './yocto_api.js'; /** * YServo Class: RC servo motor control interface, available for instance in the Yocto-Servo * * The YServo class is designed to drive remote-control servo motors * outputs. This class 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. */ export declare class YServo extends YFunction { _className: string; _position: number; _enabled: YServo.ENABLED; _range: number; _neutral: number; _move: YServo.Move; _positionAtPowerOn: number; _enabledAtPowerOn: YServo.ENABLEDATPOWERON; _valueCallbackServo: YServo.ValueCallback | null; readonly POSITION_INVALID: number; readonly ENABLED_FALSE: YServo.ENABLED; readonly ENABLED_TRUE: YServo.ENABLED; readonly ENABLED_INVALID: YServo.ENABLED; readonly RANGE_INVALID: number; readonly NEUTRAL_INVALID: number; readonly POSITIONATPOWERON_INVALID: number; readonly ENABLEDATPOWERON_FALSE: YServo.ENABLEDATPOWERON; readonly ENABLEDATPOWERON_TRUE: YServo.ENABLEDATPOWERON; readonly ENABLEDATPOWERON_INVALID: YServo.ENABLEDATPOWERON; static readonly MOVE_INVALID: YServo.Move; static readonly POSITION_INVALID: number; static readonly ENABLED_FALSE: YServo.ENABLED; static readonly ENABLED_TRUE: YServo.ENABLED; static readonly ENABLED_INVALID: YServo.ENABLED; static readonly RANGE_INVALID: number; static readonly NEUTRAL_INVALID: number; static readonly POSITIONATPOWERON_INVALID: number; static readonly ENABLEDATPOWERON_FALSE: YServo.ENABLEDATPOWERON; static readonly ENABLEDATPOWERON_TRUE: YServo.ENABLEDATPOWERON; static readonly ENABLEDATPOWERON_INVALID: YServo.ENABLEDATPOWERON; constructor(yapi: YAPIContext, func: string); imm_parseAttr(name: string, val: any): number; /** * Returns the current servo position. * * @return an integer corresponding to the current servo position * * On failure, throws an exception or returns YServo.POSITION_INVALID. */ get_position(): Promise; /** * Changes immediately the servo driving position. * * @param newval : an integer corresponding to immediately the servo driving position * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_position(newval: number): Promise; /** * Returns the state of the RC servo motors. * * @return either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE, according to the state of the RC servo motors * * On failure, throws an exception or returns YServo.ENABLED_INVALID. */ get_enabled(): Promise; /** * Stops or starts the RC servo motor. * * @param newval : either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_enabled(newval: YServo.ENABLED): Promise; /** * Returns the current range of use of the servo. * * @return an integer corresponding to the current range of use of the servo * * On failure, throws an exception or returns YServo.RANGE_INVALID. */ get_range(): Promise; /** * 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. * * @param newval : an integer corresponding to the range of use of the servo, specified in per cents * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_range(newval: number): Promise; /** * Returns the duration in microseconds of a neutral pulse for the servo. * * @return an integer corresponding to the duration in microseconds of a neutral pulse for the servo * * On failure, throws an exception or returns YServo.NEUTRAL_INVALID. */ get_neutral(): Promise; /** * 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. * * @param newval : an integer corresponding to the duration of the pulse corresponding to the neutral * position of the servo * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_neutral(newval: number): Promise; get_move(): Promise; set_move(newval: YServo.Move): Promise; /** * Performs a smooth move at constant speed toward a given position. * * @param target : new position at the end of the move * @param ms_duration : total duration of the move, in milliseconds * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ move(target: number, ms_duration: number): Promise; /** * Returns the servo position at device power up. * * @return an integer corresponding to the servo position at device power up * * On failure, throws an exception or returns YServo.POSITIONATPOWERON_INVALID. */ get_positionAtPowerOn(): Promise; /** * Configure the servo position at device power up. Remember to call the matching * module saveToFlash() method, otherwise this call will have no effect. * * @param newval : an integer * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_positionAtPowerOn(newval: number): Promise; /** * Returns the servo signal generator state at power up. * * @return either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE, according to the * servo signal generator state at power up * * On failure, throws an exception or returns YServo.ENABLEDATPOWERON_INVALID. */ get_enabledAtPowerOn(): Promise; /** * Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash() * method, otherwise this call will have no effect. * * @param newval : either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE * * @return YAPI.SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ set_enabledAtPowerOn(newval: YServo.ENABLEDATPOWERON): Promise; /** * Retrieves a RC servo motor 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 RC servo motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YServo.isOnline() to test if the RC servo motor is * indeed online at a given time. In case of ambiguity when looking for * a RC servo motor 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. * * @param func : a string that uniquely characterizes the RC servo motor, for instance * SERVORC1.servo1. * * @return a YServo object allowing you to drive the RC servo motor. */ static FindServo(func: string): YServo; /** * Retrieves a RC servo motor for a given identifier in a YAPI context. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the RC servo motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method YServo.isOnline() to test if the RC servo motor is * indeed online at a given time. In case of ambiguity when looking for * a RC servo motor 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. * * @param yctx : a YAPI context * @param func : a string that uniquely characterizes the RC servo motor, for instance * SERVORC1.servo1. * * @return a YServo object allowing you to drive the RC servo motor. */ static FindServoInContext(yctx: YAPIContext, func: string): YServo; /** * 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. * * @param 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. * @noreturn */ registerValueCallback(callback: YServo.ValueCallback | null): Promise; _invokeValueCallback(value: string): Promise; /** * Continues the enumeration of RC servo motors started using yFirstServo(). * Caution: You can't make any assumption about the returned RC servo motors order. * If you want to find a specific a RC servo motor, use Servo.findServo() * and a hardwareID or a logical name. * * @return a pointer to a YServo object, corresponding to * a RC servo motor currently online, or a null pointer * if there are no more RC servo motors to enumerate. */ nextServo(): YServo | null; /** * Starts the enumeration of RC servo motors currently accessible. * Use the method YServo.nextServo() to iterate on * next RC servo motors. * * @return a pointer to a YServo object, corresponding to * the first RC servo motor currently online, or a null pointer * if there are none. */ static FirstServo(): YServo | null; /** * Starts the enumeration of RC servo motors currently accessible. * Use the method YServo.nextServo() to iterate on * next RC servo motors. * * @param yctx : a YAPI context. * * @return a pointer to a YServo object, corresponding to * the first RC servo motor currently online, or a null pointer * if there are none. */ static FirstServoInContext(yctx: YAPIContext): YServo | null; } export declare namespace YServo { const enum ENABLED { FALSE = 0, TRUE = 1, INVALID = -1 } interface Move { target?: number; ms?: number; moving?: number; } const enum ENABLEDATPOWERON { FALSE = 0, TRUE = 1, INVALID = -1 } interface ValueCallback { (func: YServo, value: string): void; } }