ServoType in Phidget22

[chrhodes@cox.net]

I am converting from Phidget21 library to Phidget22. Previously there was a handy ServoServo.ServoType enumeration that could be used to set the ServoType to common servos. This was on the AdvancedServo.Type property.

What is the equivalent approach with Phidget22 and RCServo? I don't see a similar RCServo.Type property no any Phidget22.Enums that look like ServoTypes?

What do I do instead?

[mparadis]

This enumeration no longer exists in Phidget22. Here's the raw data from the Phidget21 source for reference:

Code: Select all

const CPhidgetServoParameters Phid_Servo_Types[] = {
	{PHIDGET_SERVO_DEFAULT,					23 * 128/12.0,	243 * 128/12.0,		128/12.0,		50/12.0*16384},	//245.3us(0)-2592us(220), 10.666us/degree, max vel
	{PHIDGET_SERVO_RAW_us_MODE,				0,				10000,				1,				50/12.0*16384},	//0us-MAXus, 1us/us, max vel
	{PHIDGET_SERVO_HITEC_HS322HD,			630,			2310,				1680/180.0,		1680/180.0*316},//180 degrees, 316deg/s
	{PHIDGET_SERVO_HITEC_HS5245MG,			765,			2185,				1420/145.0,		1420/145.0*400},//145 degrees, 400deg/s
	{PHIDGET_SERVO_HITEC_805BB,				650,			2350,				1700/180.0,		1700/180.0*316},//180 degrees, 316deg/s
	{PHIDGET_SERVO_HITEC_HS422,				650,			2450,				1800/180.0,		1800/180.0*286},//180 degrees, 286deg/s
	{PHIDGET_SERVO_TOWERPRO_MG90,			485,			2335,				1850/175.0,		1850/175.0*545},//175 degrees, 545deg/s
	{PHIDGET_SERVO_HITEC_HSR1425CR,			1300,			1740,				440/100.0,		50/12.0*16384}, //"100" degrees (stopped at 50), max vel
	{PHIDGET_SERVO_HITEC_HS785HB,			700,			2550,				1850/2880.0,	1850/2880.0*225},//2881 degrees, 225deg/s
	{PHIDGET_SERVO_HITEC_HS485HB,			580,			2400,				1820/180.0,		1820/180.0*272},//180 degrees, 272deg/s
	{PHIDGET_SERVO_HITEC_HS645MG,			580,			2330,				1750/180.0,		1750/180.0*300},//180 degrees, 300deg/s
	{PHIDGET_SERVO_HITEC_815BB,				980,			2050,				1070/180.0,		1070/180.0*250},//180 degrees, 250deg/s
	{PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R,	1000,			2000,				1000/30.0,		1000/30.0*23},	//30mm, 23mm/s
	{PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R,1000,			2000,				1000/50.0,		1000/50.0*12},	//50mm, 12mm/s
	{PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R,1000,			2000,				1000/50.0,		1000/50.0*5},	//50mm, 5mm/s
	{PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R,1000,			2000,				1000/100.0,		1000/100.0*23},	//100mm, 23mm/s
	{PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R,1000,			2000,				1000/100.0,		1000/100.0*12},	//100mm, 12mm/s
	{PHIDGET_SERVO_SPRINGRC_SM_S2313M,		535,			2210,				1675/180.0,		1675/180.0*600},//180 degrees, 600deg/s
	{PHIDGET_SERVO_SPRINGRC_SM_S3317M,		565,			2365,				1800/180.0,		1800/180.0*375},//180 degrees, 375deg/s
	{PHIDGET_SERVO_SPRINGRC_SM_S3317SR,		1125,			1745,				620/100.0,		50/12.0*16384},	//"100" degrees (stopped at 50 (1435)), max vel
	{PHIDGET_SERVO_SPRINGRC_SM_S4303R,		1050,			1950,				910/100.0,		50/12.0*16384},	//"100" degrees (stopped at 50 (1495)), max vel
	{PHIDGET_SERVO_SPRINGRC_SM_S4315M,		630,			2370,				1740/180.0,		1740/180.0*285},//180 degrees, 285deg/s
	{PHIDGET_SERVO_SPRINGRC_SM_S4315R,		1150,			1800,				650/100.0,		50/12.0*16384},	//"100" degrees (stopped at 50 (1475)), max vel
	{PHIDGET_SERVO_SPRINGRC_SM_S4505B,		665,			2280,				1615/180.0,		1615/180.0*400},//180 degrees, 400deg/s
	{PHIDGET_SERVO_USER_DEFINED,0,0,0,0},
	{0,0,0,0,0}//null
};

The columns listed above are as follows: pulse width min, pulse width max, amount of pulse width for 1 degree of movement, velocity max .

In order to configure your server in Phidget22, just set the min and max pulse width values in the table above using setMinPulseWidth and setMaxPulseWidth. The other two numbers in the table are not relevant in Phidget22.

Min and max pulse width can also be determined experimentally as described here.

[crhodes]

Thank you very much for the information.