Servo Input Parser

The Servo Input Parser is an interface between the Multi Turn Position Controller and the PWM based inputs like 1-2ms, OneShot, MultiShot, and DShot. This parser allows the user to control how ratiomatic values from the PWM input are translated. Inputs can be mapped to PWM control, voltage control, velocity control, and position control. Values are mapped between a minimum value and a maximum value, while their units are interpreted based on the mapping.

Arduino

To use Servo Input Parser in Arduino, ensure iq_module_communication.hpp is included. This allows the creation of a ServoInputParserClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the ServoInputParserClient is:

#include <iq_module_communication.hpp>

IqSerial ser(Serial2);
ServoInputParserClient svo(0);

void setup() {
    ser.begin();
    ser.set(svo.mode_,(uint8_t)1); // Set to Voltage mode
    ser.save(svo.mode_);
}

void loop() {
}

C++

To use Servo Input Parser in C++, include servo input parser client.hpp. This allows the creation of a ServoInputParserClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the ServoInputParserClient is:

Note

Interfacing with Serial looks different on different machines. Therefore, this example does not include code for interfacing with the hardware.

For more, see Full C++ Code Example (w/ LibSerial)

#include "generic_interface.hpp"
#include "servo_input_parser_client.hpp"

void main(){
    // Make a communication interface object
    GenericInterface com;

    // Make a Servo Input Parser object with obj_id 0
    ServoInputParserClient svo(0);

    // Use the Servo Input Parser object
    svo.mode_.set(com, 3); // Position control mode
    svo.mode_.save(com);
    svo.unit_min_.set(com, -PI);
    svo.unit_min_.save(com);
    svo.unit_max_.set(com, PI);
    svo.unit_max_.save(com);

    // Insert code for interfacing with hardware here

}

Matlab

To use Servo Input Parser in Matlab, all Vertiq communication code must be included in your path. This allows the creation of a ServoInputParserClient object. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the ServoInputParserClient is:

% Make a communication interface object
com = MessageInterface(’COM18’,115200);
% Make a ServoInputParserClient object with obj_id 0
ServoInputParser = ServoInputParserClient(’com’,com);
% Use the ServoInputParserClient object
ServoInputParser.set(’mode’, 3); // Position control mode
ServoInputParser.save(’mode’);
ServoInputParser.set(’unit_min’, -pi);
ServoInputParser.save(’unit_min’);
ServoInputParser.set(’unit_max’, pi);
ServoInputParser.save(’unit_max’);

Python

To use the Servo Input Parser Client in Python, import iqmotion and create a module that has the Servo Input Parser Client within its firmware. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the Servo Input Parser Client is:

import iqmotion as iq
import math

com = iq.SerialCommunicator("/dev/ttyUSB0")
|variable_name| = iq.|module_name|(com, 0, firmware="servo")

# Set Servo Limits
|variable_name|.set("servo_input_parser", "mode", 3)             # Position Control Mode
|variable_name|.set("servo_input_parser", "unit_min", -math.pi)  # Min position: -pi
|variable_name|.set("servo_input_parser", "unit_max", math.pi)   # Max position:  pi

# Save Servo Limits
|variable_name|.save("servo_input_parser", "mode")
|variable_name|.save("servo_input_parser", "unit_min")
|variable_name|.save("servo_input_parser", "unit_max")

Message Table

Type ID 78 | Servo Input Parser

Servo Input Parser

Sub ID	Short Name	Access	Data Type	Unit	Note
0	mode	get, set, save	uint8	\(\text{Enum}\)	0 = PWM, 1 = Voltage, 2 = Velocity, 3 = Position
1	unit_min	get, set, save	float	\(\text{(mode)}\)	Minimum value. Unit determined by mode.
2	unit_max	get, set, save	float	\(\text{(mode)}\)	Maximum value. Unit determined by mode.