rotate
xod-dev/servo/rotate
Rotates a servo shaft to the given angular position.
rotate
@/rotate
Rotates a servo shaft to the given angular position.
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.
DEV@/servo-device
The servo device
DOpulse
Set the new target rotation value for the given device.
DEV'@/servo-device
The servo device
ACKpulse
Pulses to acknowledge the new target. It will take time for the servo to complete the order.
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);
}
}