private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your Servo Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register position reached callback to function PositionReachedCB
servo.PositionReached += PositionReachedCB;
// Enable position reached callback
servo.EnablePositionReachedCallback();
// Set velocity to 100°/s. This has to be smaller or equal to the
// maximum velocity of the servo you are using, otherwise the position
// reached callback will be called too early
servo.SetVelocity(0, 10000);
servo.SetPosition(0, 9000);
servo.Enable(0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
servo.Disable(0);
ipcon.Disconnect();
}
public SimpleServoEngine(BrickServo servoBrick, byte servoId)
{
ServoBrick = servoBrick;
ServoId = servoId;
IsEnabled = false;
InitializePropertyDefaults();
SetSpeed(0);
}
public RadialDistanceSensor(RadialDistanceMap targetMap, BrickServo servoBrick, byte servoId, IDistanceSensor distanceBricklet)
{
Measurements = targetMap;
ServoId = servoId;
ServoBrick = servoBrick;
DistanceSensor = distanceBricklet;
SetupMeasurement();
SetupServo();
}
private void InitializeDevices()
{
Connection = new IPConnection();
Connection.Connect("localhost", 4223);
ServoBrick = new BrickServo("ap6zRki6edN", Connection);
SetupServoBrick();
DistanceBricklet = new BrickletDistanceIR("8XU", Connection);
var distanceCollection = new ClosestDistanceSensorCollection();
distanceCollection.AddSensor(new ImmediateDistanceIRSensor(DistanceBricklet));
Distances = distanceCollection;
var drivingStrategy = new SimpleDistanceDrivingStrategy(Engine, Distances);
drivingStrategy.MinimumDrivingDistance = 30.Centimeters();
drivingStrategy.ReversalDistance = 11.Centimeters();
drivingStrategy.RefreshInterval = 10;
this.DrivingStrategy = drivingStrategy;
}
// Callback function for distance callback (parameter has unit mm)
static void ReachedCB(BrickServo sender, byte servoNum, short position)
{
if(position == 9000)
{
System.Console.WriteLine("Position: 90°, going to -90°");
sender.SetPosition(servoNum, -9000);
}
else if(position == -9000)
{
System.Console.WriteLine("Position: -90°, going to 90°");
sender.SetPosition(servoNum, 9000);
}
else
{
// Can only happen if another program sets position
System.Console.WriteLine("Error");
}
}
private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your Servo Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Configure two servos with voltage 5.5V
// Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
// and operating angle -100 to 100°
//
// Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
// to 1.95ms and operating angle -90 to 90°
servo.SetOutputVoltage(5500);
servo.SetDegree(0, -10000, 10000);
servo.SetPulseWidth(0, 1000, 2000);
servo.SetPeriod(0, 19500);
servo.SetAcceleration(0, 1000); // Slow acceleration
servo.SetVelocity(0, 65535); // Full speed
servo.SetDegree(5, -9000, 9000);
servo.SetPulseWidth(5, 950, 1950);
servo.SetPeriod(5, 20000);
servo.SetAcceleration(5, 65535); // Full acceleration
servo.SetVelocity(5, 65535); // Full speed
servo.SetPosition(0, 10000); // Set to most right position
servo.Enable(0);
servo.SetPosition(5, -9000); // Set to most left position
servo.Enable(5);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
servo.Disable(0);
servo.Disable(5);
ipcon.Disconnect();
}
public TFRoboticArmWith6DOF()
{
// Connection to brickd
ipcon = new IPConnection();
servo = new BrickServo(UID, ipcon);
ipcon.Connect(HOST, PORT);
servo.SetOutputVoltage(5000); // 5V
MotorConfiguration mcServoTypeA = new MotorConfiguration();
mcServoTypeA.SetValue("Degree_Min", "-6700");
mcServoTypeA.SetValue("Degree_Max", "6700");
mcServoTypeA.SetValue("PulseWidth_Min", "800");
mcServoTypeA.SetValue("PulseWidth_Max", "2700");
mcServoTypeA.SetValue("Period", "19500");
mcServoTypeA.SetValue("Acceleration", "65535");
mcServoTypeA.SetValue("Velocity", "65535");
mcServoTypeA.SetValue("Position", "0");
MotorConfiguration mcServoTypeB = new MotorConfiguration();
mcServoTypeB.SetValue("Degree_Min", "-6700");
mcServoTypeB.SetValue("Degree_Max", "6700");
mcServoTypeB.SetValue("PulseWidth_Min", "800");
mcServoTypeB.SetValue("PulseWidth_Max", "2100");
mcServoTypeB.SetValue("Period", "19500");
mcServoTypeB.SetValue("Acceleration", "65535");
mcServoTypeB.SetValue("Velocity", "65535");
mcServoTypeB.SetValue("Position", "0");
SetMotorConfiguration(JOINT1_SERVO, mcServoTypeA);
SetMotorConfiguration(JOINT2_SERVO, mcServoTypeA);
SetMotorConfiguration(JOINT3_SERVO, mcServoTypeB);
SetMotorConfiguration(JOINT4_SERVO, mcServoTypeB);
SetMotorConfiguration(JOINT5_SERVO, mcServoTypeB);
SetMotorConfiguration(JOINT6_SERVO, mcServoTypeB);
}
private static string UID = "a4LCMm3K2bS"; // Change to your UID
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register "position reached callback" to ReachedCB
// ReachedCB will be called every time a position set with
// SetPosition is reached
servo.PositionReached += ReachedCB;
// Set velocity to 100°/s. This has to be smaller or equal to
// maximum velocity of the servo, otherwise ReachedCB will be
// called too early
servo.SetVelocity(0, 10000);
servo.SetPosition(0, 9000);
servo.Enable(0);
System.Console.WriteLine("Press key to exit");
System.Console.ReadKey();
ipcon.Disconnect();
}
private void ServoApproached(BrickServo sender, byte servoId, short position)
{
if (servoId != ServoId)
return;
PerformMeasurement();
}
