mindsensors.NXTSERVO Class Reference

NXTSERVO: this class provides servo motor control functions. More...

Inheritance diagram for mindsensors.NXTSERVO:

Public Member Functions
def	__init__
	Initialize the class with the i2c address of your NXTServo. More...
def	command
	Writes a specified command on the command register of the NXTServo. More...
def	battVoltage
	Reads NXTServo battery voltage in millivolts. More...
def	setSpeed
	Sets the speed of a servo Has no effect on continuous rotation servos. More...
def	setPosition
	Sets the position of a servo. More...
def	runServo
	Runs the specified servo to a specific position at a specified speed. More...
def	storeInitial
	Store the current settings of the specified servo to initial/default settings (remembered when powered on) More...
def	reset
	Reset all servos to their default settings. More...
def	stopServo
	Stop a specific servo This will also completely stop a continuous rotation servo, regardless of its neutral point. More...
def	setNeutral
	Sets the default neutral position of a user defined servo. More...
def	haltMacro
	Stop the onboard macro on the NXTServo. More...
def	resumeMacro
	Resume the onboard macro on the NXTServo. More...
def	gotoEEPROM
	Go to a given EEPROM position This command re-initializes the macro environment. More...
def	editMacro
	Edit the onboard macro. More...
def	pauseMacro
	Temporarily pause the running macro. More...

Static Public Attributes
int	NXTSERVO_ADDRESS = 0xB0
	Default NXTServo I2C Address.
int	NXTSERVO_VBATT_SCALER = 37
	Constant Voltage Multiplier.
int	NXTSERVO_COMMAND = 0x41
	Command Register.
int	NXTSERVO_VBATT = 0x62
	Input Power Voltage Register.

Detailed Description

NXTSERVO: this class provides servo motor control functions.

Constructor & Destructor Documentation

def mindsensors.NXTSERVO.__init__	(		self,
			nxtservo_address = NXTSERVO_ADDRESS
	)

Initialize the class with the i2c address of your NXTServo.

Parameters

self	The object pointer.
nxtservo_address	Address of your NXTServo.

Member Function Documentation

def mindsensors.NXTSERVO.battVoltage

(

self

)

Reads NXTServo battery voltage in millivolts.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.command	(		self,
			cmd
	)

Writes a specified command on the command register of the NXTServo.

Parameters

self	The object pointer.
cmd	The command you wish the NXTServo to execute.

def mindsensors.NXTSERVO.editMacro

(

self

)

Edit the onboard macro.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.gotoEEPROM	(		self,
			position
	)

Go to a given EEPROM position This command re-initializes the macro environment.

Parameters

self	The object pointer.
position	The EEPROM position to go to

def mindsensors.NXTSERVO.haltMacro

(

self

)

Stop the onboard macro on the NXTServo.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.pauseMacro

(

self

)

Temporarily pause the running macro.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.reset

(

self

)

Reset all servos to their default settings.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.resumeMacro

(

self

)

Resume the onboard macro on the NXTServo.

Parameters

self	The object pointer.

def mindsensors.NXTSERVO.runServo	(		self,
			servoNumber,
			position,
			speed = None
	)

Runs the specified servo to a specific position at a specified speed.

Parameters

self	The object pointer.
servoNumber	The number of the servo to move (1-8).
position	The position to set the servo (1-255).
speed	The speed to set the servo (1-255) (not used for continuous rotation servos).

def mindsensors.NXTSERVO.setNeutral	(		self,
			servoNumber
	)

Sets the default neutral position of a user defined servo.

Parameters

self	The object pointer.
servoNumber	The number of the servo you wish to set to the default position.

def mindsensors.NXTSERVO.setPosition	(		self,
			servoNumber,
			position
	)

Sets the position of a servo.

Parameters

self	The object pointer.
servoNumber	The number of the servo to set its position (1-8).
position	The position to set the servo (1-255).

def mindsensors.NXTSERVO.setSpeed	(		self,
			servoNumber,
			speed
	)

Sets the speed of a servo Has no effect on continuous rotation servos.

Parameters

self	The object pointer.
servoNumber	The number of the servo to set its speed (1-8).
speed	The speed to set the servo (1-255).

def mindsensors.NXTSERVO.stopServo	(		self,
			servoNumber
	)

Stop a specific servo This will also completely stop a continuous rotation servo, regardless of its neutral point.

Parameters

self	The object pointer.
servoNumber	The number of the servo to stop (1-8).

def mindsensors.NXTSERVO.storeInitial	(		self,
			servoNumber
	)

Store the current settings of the specified servo to initial/default settings (remembered when powered on)

Parameters

self	The object pointer.
servoNumber	The number of the servo to save its settings (1-8).

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The documentation for this class was generated from the following file:

• PiStorms/sys/mindsensors.py