Servos

Functions
void	enable_servo (int port)
	Enable a specific servo. More...
void	disable_servo (int port)
	Disable a specific servo. More...
void	enable_servos ()
	Enable all four servo channels. More...
void	disable_servos ()
	Disable all four servo channels. More...
void	set_servo_enabled (int port, int enabled)
	Enable or disable a specific servo. More...
int	get_servo_enabled (int port)
	Check if a servo is enabled. More...
int	get_servo_position (int port)
	Get the most recent commanded servo position. More...
void	set_servo_position (int port, int position)
	Set a new servo goal position. More...

Detailed Description

Function Documentation

disable_servo()

void disable_servo

(

int

port

)

Disable a specific servo.

Parameters

[in]

port

The port, between 0 and 3, to disable

disable_servos()

void disable_servos

(

)

Disable all four servo channels.

enable_servo()

void enable_servo

(

int

port

)

Enable a specific servo.

Parameters

[in]

port

The port, between 0 and 3, to enable

enable_servos()

void enable_servos

(

)

Enable all four servo channels.

get_servo_enabled()

int get_servo_enabled

(

int

port

)

Check if a servo is enabled.

Parameters

[in]

port

The port, between 0 and 3

Returns

The servo enable setting 0: disabled 1: enabled

get_servo_position()

int get_servo_position

(

int

port

)

Get the most recent commanded servo position.

Parameters

port	The port of the servo

Returns

The servo's position as an 11 bit integer (which is an integer between 0 and 2047)

Note

This method will return the last sent position, not the currently set position.

set_servo_enabled()

void set_servo_enabled	(	int	port,
		int	enabled
	)

Enable or disable a specific servo.

Parameters

[in]	port	The port, between 0 and 3, to enable
[in]	enabled	The new enable setting 0: disabled 1: enabled

set_servo_position()

void set_servo_position	(	int	port,
		int	position
	)

Set a new servo goal position.

Parameters

port	The port of the servo
position	The new servo position, between 0 and 2047

Note

Even though the servos have a theoretical range between 0 and 2047, the actual range is often less. Setting the servo to a position that it cannot physically reach will cause the servo to audibly strain and will consume battery very quickly.