mrotate
prplkn/mservo/mrotate
No description
mrotate
@/mrotate
DEV@/mservo-device
VALnumber
The target shaft rotation position in the [0; 1] range. The real angle/pulse values corresponding to the 0 and 1 boundaries are defined by the servo device node.
DOpulse
Set the new target rotation value for the given device.
ACKpulse
Pulses to acknowledge the new target. It will take time for the servo to complete the order.
DEV'@/mservo-device
C++ implementation
#pragma XOD evaluate_on_pin disable
#pragma XOD evaluate_on_pin enable input_DO
node {
void evaluate(Context ctx) {
auto xservo = getValue<input_DEV>(ctx);
if (isSettingUp()) {
// Short-circuit DEV and DEV'
emitValue<output_DEVU0027>(ctx, xservo);
}
if (!isInputDirty<input_DO>(ctx))
return;
auto angle = getValue<input_VAL>(ctx);
xservo->write01(angle);
emitValue<output_ACK>(ctx, 1);
}
}