Access to EV3 servo motors. More...

Data Structures
struct	EV3_SERVO
	Structure of a servo motor descriptor. More...

Macros
#define	SERVO_DIR "/sys/class/servo-motor"

#define	SERVO_DESC__LIMIT_ DESC_LIMIT

#define	SERVO__NONE_ SERVO_DESC__LIMIT_

Enumerations
enum	{ SERVO_TYPE__NONE_ = 0, SERVO_MOTOR, SERVO_TYPE__COUNT_, SERVO_TYPE__UNKNOWN_ = SERVO_TYPE__COUNT_ }
	Identifiers of servo motor types. More...

enum	{ SERVO_COMMAND__NONE_ = 0, SERVO_RUN, SERVO_FLOAT, SERVO_COMMAND__COUNT_, SERVO_COMMAND__UNKNOWN_ = SERVO_COMMAND__COUNT_ }
	Common identifiers of servo motor "command" attribute. More...

enum	{ SERVO_POLARITY__NONE_ = 0, SERVO_NORMAL, SERVO_INVERSED, SERVO_POLARITY__COUNT_, SERVO_POLARITY__UNKNOWN_ = SERVO_POLARITY__COUNT_ }
	Common identifiers of servo motor "polarity" attribute. More...

enum	{ SERVO_STATE__NONE_ = 0, SERVO_RUNNING = 0x1L }
	Common identifiers of servo motor "state" attribute.

Functions
	EV3_SERVO_VAR (EV3_SERVO ev3_servo[SERVO_DESC__LIMIT_])
	Vector of servo motor descriptors (filled by ev3_servo_init).

size_t	get_servo_address (uint8_t sn, char *buf, size_t sz)
	Read "address" attribute of the servo motor. More...

size_t	get_servo_command (uint8_t sn, char *buf, size_t sz)
	Read "command" attribute of the servo motor. More...

size_t	set_servo_command (uint8_t sn, char *value)
	Write "command" attribute of the servo motor. More...

size_t	multi_set_servo_command (uint8_t sn, char value)
	Write "command" attribute of several servo motors. More...

size_t	get_servo_driver_name (uint8_t sn, char *buf, size_t sz)
	Read "driver_name" attribute of the servo motor. More...

size_t	get_servo_max_pulse_sp (uint8_t sn, int *buf)
	Read "max_pulse_sp" attribute of the servo motor. More...

size_t	set_servo_max_pulse_sp (uint8_t sn, int value)
	Write "max_pulse_sp" attribute of the servo motor. More...

size_t	multi_set_servo_max_pulse_sp (uint8_t *sn, int value)
	Write "max_pulse_sp" attribute of several servo motors. More...

size_t	get_servo_mid_pulse_sp (uint8_t sn, int *buf)
	Read "mid_pulse_sp" attribute of the servo motor. More...

size_t	set_servo_mid_pulse_sp (uint8_t sn, int value)
	Write "mid_pulse_sp" attribute of the servo motor. More...

size_t	multi_set_servo_mid_pulse_sp (uint8_t *sn, int value)
	Write "mid_pulse_sp" attribute of several servo motors. More...

size_t	get_servo_min_pulse_sp (uint8_t sn, int *buf)
	Read "min_pulse_sp" attribute of the servo motor. More...

size_t	set_servo_min_pulse_sp (uint8_t sn, int value)
	Write "min_pulse_sp" attribute of the servo motor. More...

size_t	multi_set_servo_min_pulse_sp (uint8_t *sn, int value)
	Write "min_pulse_sp" attribute of several servo motors. More...

size_t	get_servo_polarity (uint8_t sn, char *buf, size_t sz)
	Read "polarity" attribute of the servo motor. More...

size_t	set_servo_polarity (uint8_t sn, char *value)
	Write "polarity" attribute of the servo motor. More...

size_t	multi_set_servo_polarity (uint8_t sn, char value)
	Write "polarity" attribute of several servo motors. More...

size_t	get_servo_position_sp (uint8_t sn, int *buf)
	Read "position_sp" attribute of the servo motor. More...

size_t	set_servo_position_sp (uint8_t sn, int value)
	Write "position_sp" attribute of the servo motor. More...

size_t	multi_set_servo_position_sp (uint8_t *sn, int value)
	Write "position_sp" attribute of several servo motors. More...

size_t	get_servo_rate_sp (uint8_t sn, int *buf)
	Read "rate_sp" attribute of the servo motor. More...

size_t	set_servo_rate_sp (uint8_t sn, int value)
	Write "rate_sp" attribute of the servo motor. More...

size_t	multi_set_servo_rate_sp (uint8_t *sn, int value)
	Write "rate_sp" attribute of several servo motors. More...

size_t	get_servo_state (uint8_t sn, char *buf, size_t sz)
	Read "state" attribute of the servo motor. More...

const char *	ev3_servo_type (INX_T type_inx)
	Get name of the specified servo motor type. More...

INX_T	get_servo_type_inx (uint8_t sn)
	Read "driver_name" attribute and get index of the servo motor type. More...

size_t	get_servo_desc (uint8_t sn, EV3_SERVO *desc)
	Read servo motor attributes that are required for filling the descriptor. More...

EV3_SERVO *	ev3_servo_desc (uint8_t sn)
	Get descriptor of the servo motor. More...

INX_T	ev3_servo_desc_type_inx (uint8_t sn)
	Get type from the servo motor descriptor. More...

uint8_t	ev3_servo_desc_port (uint8_t sn)
	Get EV3 port from the servo motor descriptor. More...

uint8_t	ev3_servo_desc_extport (uint8_t sn)
	Get extended port from the servo motor descriptor. More...

uint8_t	ev3_servo_desc_addr (uint8_t sn)
	Get I2C address from the servo motor descriptor. More...

char *	ev3_servo_port_name (uint8_t sn, char *buf)
	Assemble EV3 port name from the servo motor descriptor. More...

bool	ev3_search_servo (INX_T type_inx, uint8_t *sn, uint8_t from)
	Search of a sequence number of the specified servo motor type. More...

bool	ev3_search_servo_plugged_in (uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from)
	Search of a sequence number the servo motor by plug-in attributes. More...

const char *	ev3_servo_command (INX_T command_inx)
	Get name of the specified servo motor command. More...

INX_T	get_servo_command_inx (uint8_t sn)
	Read "command" attribute of the servo motor and get the index. More...

size_t	set_servo_command_inx (uint8_t sn, INX_T command_inx)
	Write "command" attribute of the servo motor by the index. More...

size_t	multi_set_servo_command_inx (uint8_t *sn, INX_T command_inx)
	Write "command" attribute of several servo motors by the index. More...

const char *	ev3_servo_polarity (INX_T polarity_inx)
	Get name of the specified servo motor polarity. More...

INX_T	get_servo_polarity_inx (uint8_t sn)
	Read "polarity" attribute of the servo motor and get the index. More...

size_t	set_servo_polarity_inx (uint8_t sn, INX_T polarity_inx)
	Write "polarity" attribute of the servo motor by the index. More...

size_t	multi_set_servo_polarity_inx (uint8_t *sn, INX_T polarity_inx)
	Write "polarity" attribute of several servo motors by the index. More...

size_t	get_servo_state_flags (uint8_t sn, FLAGS_T *flags)
	Read "state" attribute of the servo motor and get the flags. More...

int	ev3_servo_init (void)
	Detect connected servo motors. More...

Detailed Description

Access to EV3 servo motors.

See also: http://www.ev3dev.org/docs/drivers/servo-motor-class/

Macro Definition Documentation

#define SERVO__NONE_ SERVO_DESC__LIMIT_

Servo motor is not found.

#define SERVO_DESC__LIMIT_ DESC_LIMIT

Limit of servo motor descriptors.

#define SERVO_DIR "/sys/class/servo-motor"

Directory of servo motors.

Enumeration Type Documentation

anonymous enum

Identifiers of servo motor types.

Enumerator
SERVO_TYPE__COUNT_	Count of servo motor types.

anonymous enum

Common identifiers of servo motor "command" attribute.

Enumerator
SERVO_COMMAND__COUNT_	Count of servo motor "command" attribute.

anonymous enum

Common identifiers of servo motor "polarity" attribute.

Enumerator
SERVO_POLARITY__COUNT_	Count of servo motor "polarity" attribute.

Function Documentation

bool ev3_search_servo	(	INX_T	type_inx,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number of the specified servo motor type.

Parameters

	type_inx	Servo motor type.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the servo motor is found.

bool ev3_search_servo_plugged_in	(	uint8_t	port,
		uint8_t	extport,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number the servo motor by plug-in attributes.

Parameters

	port	EV3 port.
	extport	Extended port.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the servo motor is found.

const char* ev3_servo_command ( INX_T command_inx )

Get name of the specified servo motor command.

Parameters

command_inx Index of the servo motor command.

Returns: Requested value.

EV3_SERVO* ev3_servo_desc ( uint8_t sn )

Get descriptor of the servo motor.

Parameters

sn	Sequence number.

Returns: Pointer to the servo motor descriptor.

uint8_t ev3_servo_desc_addr ( uint8_t sn )

Get I2C address from the servo motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

uint8_t ev3_servo_desc_extport ( uint8_t sn )

Get extended port from the servo motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

uint8_t ev3_servo_desc_port ( uint8_t sn )

Get EV3 port from the servo motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

INX_T ev3_servo_desc_type_inx ( uint8_t sn )

Get type from the servo motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

int ev3_servo_init ( void )

Detect connected servo motors.

Returns: Number of found servo motors or -1 in case of an error.

const char* ev3_servo_polarity ( INX_T polarity_inx )

Get name of the specified servo motor polarity.

Parameters

polarity_inx Index of the servo motor polarity.

Returns: Requested value.

char* ev3_servo_port_name	(	uint8_t	sn,
		char *	buf
	)

Assemble EV3 port name from the servo motor descriptor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Requested value.

const char* ev3_servo_type ( INX_T type_inx )

Get name of the specified servo motor type.

Parameters

type_inx Index of the servo motor type.

Returns: Requested value.

size_t get_servo_address	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "address" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_servo_command	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "command" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

INX_T get_servo_command_inx ( uint8_t sn )

Read "command" attribute of the servo motor and get the index.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t get_servo_desc	(	uint8_t	sn,
		EV3_SERVO *	desc
	)

Read servo motor attributes that are required for filling the descriptor.

Parameters

sn	Sequence number.
desc	Buffer for the descriptor.

Returns: Count of read bytes.

size_t get_servo_driver_name	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "driver_name" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_servo_max_pulse_sp	(	uint8_t	sn,
		int *	buf
	)

Read "max_pulse_sp" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_servo_mid_pulse_sp	(	uint8_t	sn,
		int *	buf
	)

Read "mid_pulse_sp" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_servo_min_pulse_sp	(	uint8_t	sn,
		int *	buf
	)

Read "min_pulse_sp" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_servo_polarity	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "polarity" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

INX_T get_servo_polarity_inx ( uint8_t sn )

Read "polarity" attribute of the servo motor and get the index.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t get_servo_position_sp	(	uint8_t	sn,
		int *	buf
	)

Read "position_sp" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_servo_rate_sp	(	uint8_t	sn,
		int *	buf
	)

Read "rate_sp" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_servo_state	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "state" attribute of the servo motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_servo_state_flags	(	uint8_t	sn,
		FLAGS_T *	flags
	)

Read "state" attribute of the servo motor and get the flags.

Parameters

sn	Sequence number.
flags	Buffer for the flags.

Returns: Count of read bytes.

INX_T get_servo_type_inx ( uint8_t sn )

Read "driver_name" attribute and get index of the servo motor type.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t multi_set_servo_command	(	uint8_t *	sn,
		char *	value
	)

Write "command" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_command_inx	(	uint8_t *	sn,
		INX_T	command_inx
	)

Write "command" attribute of several servo motors by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
command_inx	Index of the servo motor command.

Returns: Count of written bytes.

size_t multi_set_servo_max_pulse_sp	(	uint8_t *	sn,
		int	value
	)

Write "max_pulse_sp" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_mid_pulse_sp	(	uint8_t *	sn,
		int	value
	)

Write "mid_pulse_sp" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_min_pulse_sp	(	uint8_t *	sn,
		int	value
	)

Write "min_pulse_sp" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_polarity	(	uint8_t *	sn,
		char *	value
	)

Write "polarity" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_polarity_inx	(	uint8_t *	sn,
		INX_T	polarity_inx
	)

Write "polarity" attribute of several servo motors by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
polarity_inx	Index of the servo motor polarity.

Returns: Count of written bytes.

size_t multi_set_servo_position_sp	(	uint8_t *	sn,
		int	value
	)

Write "position_sp" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_servo_rate_sp	(	uint8_t *	sn,
		int	value
	)

Write "rate_sp" attribute of several servo motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_command	(	uint8_t	sn,
		char *	value
	)

Write "command" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_command_inx	(	uint8_t	sn,
		INX_T	command_inx
	)

Write "command" attribute of the servo motor by the index.

Parameters

sn	Sequence number.
command_inx	Index of the servo motor command.

Returns: Count of written bytes.

size_t set_servo_max_pulse_sp	(	uint8_t	sn,
		int	value
	)

Write "max_pulse_sp" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_mid_pulse_sp	(	uint8_t	sn,
		int	value
	)

Write "mid_pulse_sp" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_min_pulse_sp	(	uint8_t	sn,
		int	value
	)

Write "min_pulse_sp" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_polarity	(	uint8_t	sn,
		char *	value
	)

Write "polarity" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_polarity_inx	(	uint8_t	sn,
		INX_T	polarity_inx
	)

Write "polarity" attribute of the servo motor by the index.

Parameters

sn	Sequence number.
polarity_inx	Index of the servo motor polarity.

Returns: Count of written bytes.

size_t set_servo_position_sp	(	uint8_t	sn,
		int	value
	)

Write "position_sp" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_servo_rate_sp	(	uint8_t	sn,
		int	value
	)

Write "rate_sp" attribute of the servo motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation