Manual
Table Of Contents
- Product Features
- Installing the hardware
- Downloading and Installing the software
- Programming a Phidget
- Technical Section
- The PhidgetAdvancedServo software component uses degrees to specify position, velocity, and acceleration. The degree unit is translated into a pulse sent to the servo, but it’s up to the servo to translate this signal into a particular position. This translation varies between servo models and manufacturers so our degree abstraction will not be exactly the same as the servo you are using. Our degree abstraction is based on the HS322-HD servo, which is typically 10.4uS per degree.
- API Section
- We document API calls specific to the 1066. Functions common to all Phidgets are not covered here. This documentation is deliberately generic. For calling conventions in a specific language, refer to that language’s API manual.
- Device Specifications
- Mechanical Drawing
- Product History
1066_0_Product_Manual created: 07/09/09 Page 10
API Section
We document API calls specific to the 1066. Functions common to all Phidgets are not
covered here. This documentation is deliberately generic. For calling conventions in a specific
language, refer to that language’s API manual.
Functions
int Count() [get]
Returns the number of servos this PhidgetAdvancedServo can control. In the case of the
1066, this will always return 1. This call does not return the number of servos actually
connected.
double Acceleration(int ServoIndex) [get,set]
Acceleration is the maximum change in velocity the PhidgetAdvancedServo uses when
speeding up / slowing down a servo.
The range of valid Acceleration is bounded by AccelerationMax/AccelerationMin.•
There is a practical limit on how fast your servo can accelerate, based on load and the •
physical design of the motor.
This property should always be set by the user as part of initialization. The value does not •
initialize to the value last set on the device.
double AccelerationMax(int ServoIndex) [get] : Constant
AccelerationMax is the upper limit to which Acceleration can be set. For the 1066, this will
always return 320000.
double AccelerationMin(int ServoIndex) [get] : Constant
AccelerationMin is the lower limit to which Acceleration can be set. For the 1066, this will
always return 19.53125.
double Velocity(int ServoIndex) [get]
Velocity returns the actual velocity that a particular servo is being driven at. A negative value
means it is moving towards a lower position. This call does not return the actual physical
velocity of the connected motor.
double VelocityLimit(int ServoIndex) [get, set]
Gets or sets the maximum absolute velocity that the PhidgetAdvancedServo controller will
drive the servo. If it’s changed mid-movement, the controller will accelerate accordingly. If the
target position of the controller is near enough, then the VelocityLimit may never be reached.
This property should always be set by the user as part of initialization. •
There is a practical limit on how fast your servo can rotate, based on the physical design of •
the motor.
The range of VelocityLimit is bounded by VelocityMax/VelocityMin•
Note that when VelocityLimit is set to 0, the servo will not move.•