position-value
xod-dev/servo/position-value
Extracts the current target position value from the servo device
position-value
@/position-value
Extracts the current target position value from the servo device
DEV@/servo-device
The servo device
UPDpulse
Re-requests the position.
DONEpulse
Pulses when the position is updated
VALnumber
Current shaft position in the [0; 1] range. Note, this is the value the servo strives to be at, it may be inequal to the current physical shaft position.
DEV'@/servo-device
The servo device
C++ implementation
#pragma XOD evaluate_on_pin disable
#pragma XOD evaluate_on_pin enable input_UPD
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_UPD>(ctx))
return;
emitValue<output_VAL>(ctx, xservo->read01());
emitValue<output_DONE>(ctx, 1);
}
}