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 12
bool Engaged(int ServoIndex) [get,set]
Enables a particular servo to be positioned. If this property is false, no power is applied to the
motors. Note that when it is first enabled, the servo will snap to position, if it is not physically
positioned at the same point.
Engaged is useful for relaxing a servo once it’s reached a given position. If you are concerned
about keeping accurate track of position, Engaged should not be disabled until Stopped = True.
This value is set to false when the 1066 is first connected. This property should be set by •
the user as part of initialization. If not, it will report the last value set on the device (unless
the 1066 has been power-cycled).
Get will return the last value as reported by the device. This means sets to this value will •
take a small amount of time to propagate.
bool Stopped(int ServoIndex) [get]
Stopped returns false if the servo is currently in motion. It guarantees that the servo is not
moving (unless you are moving it by hand), and that there are no commands in the pipeline
to the servo. Note that virtually any API calls will cause Stopped to be temporarily false, even
changing Acceleration or VelocityLimit on a stopped servo.
Events
VelocityChange(int ServoIndex, double Velocity) [event]
An event issued when the velocity changes on a motor.
PositionChange(int ServoIndex, double Position) [event]
An event issued when the position changes on a motor.
CurrentChange(int ServoIndex, double Current) [event]
An event issued when the current consumed changes on a servo.