1 files changed, 149 insertions, 0 deletions
diff --git a/servo/servo_accessors.go b/servo/servo_accessors.go
new file mode 100644
index 0000000..3258e74
--- /dev/null
+++ b/servo/servo_accessors.go
@@ -0,0 +1,149 @@
+/* SPDX-License-Identifier: MIT
+ *
+ * Copyright (C) 2020 jet tsang zeon-git. All Rights Reserved.
+ */
+
+package servo
+
+// MoveTimeWrite
+func (s *Servo) MoveTimeWrite(position uint16, ms uint16) error {
+	return s.sendInstruction(MoveTimeWrite, []uint16{position, ms})
+}
+
+// MoveTimeRead
+func (s *Servo) MoveTimeRead() ([]byte, error) {
+	return s.getData(MoveTimeRead)
+}
+
+// MoveTimeWaitWrite
+func (s *Servo) MoveTimeWaitWrite(position uint16, ms uint16) error {
+	return s.sendInstruction(MoveTimeWaitWrite, []uint16{position, ms})
+}
+
+// MoveTimeWaitRead
+func (s *Servo) MoveTimeWaitRead() ([]byte, error) {
+	return s.getData(MoveTimeWaitRead)
+}
+
+// MoveStart
+func (s *Servo) MoveStart() error {
+	return s.sendInstruction(MoveStart, nil)
+}
+
+// MoveStop
+func (s *Servo) MoveStop() ([]byte, error) {
+	return s.getData(MoveStop)
+}
+
+// IDWrite
+func (s *Servo) IDWrite(newID uint16) error {
+	return s.sendInstruction(IDWrite, []uint16{newID})
+}
+
+// IDRead
+func (s *Servo) IDRead() ([]byte, error) {
+	return s.getData(IDRead)
+}
+
+// AngleOffsetAdjust
+func (s *Servo) AngleOffsetAdjust(adjust uint16) error {
+	return s.sendInstruction(AngleOffsetAdjust, []uint16{adjust})
+}
+
+// AngleOffsetWrite: Save Offset to Servo's EEPROM
+func (s *Servo) AngleOffsetWrite() error {
+	return s.sendInstruction(AngleOffsetWrite, nil)
+}
+
+// AngleOffsetRead: Read Offset from Servo's EEPROM
+func (s *Servo) AngleOffsetRead() ([]byte, error) {
+	return s.getData(AngleOffsetRead)
+}
+
+// AngleLimitWrite: Set angle limit
+func (s *Servo) AngleLimitWrite(minAngle uint16, maxAngle uint16) error {
+	return s.sendInstruction(AngleLimitWrite, []uint16{minAngle, maxAngle})
+}
+
+// AngleLimitRead
+// TODO: translate byte to angle and position
+func (s *Servo) AngleLimitRead() ([]byte, error) {
+	return s.getData(AngleLimitRead)
+}
+
+// VoltageLimitWrite
+func (s *Servo) VoltageLimitWrite(minVoltage uint16, maxVoltage uint16) error {
+	return s.sendInstruction(VoltageLimitWrite, []uint16{minVoltage, maxVoltage})
+}
+
+// VoltageLimitRead
+func (s *Servo) VoltageLimitRead() ([]byte, error) {
+	return s.getData(VoltageLimitRead)
+}
+
+// TemperatureMaxLimitWrite
+func (s *Servo) TemperatureMaxLimitWrite(maxTemperature uint16) error {
+	return s.sendInstruction(TemperatureMaxLimitWrite, []uint16{maxTemperature})
+}
+
+// TemperatureMaxLimitRead
+func (s *Servo) TemperatureMaxLimitRead() ([]byte, error) {
+	return s.getData(TemperatureMaxLimitRead)
+}
+
+// TemperatureRead
+func (s *Servo) TemperatureRead() ([]byte, error) {
+	return s.getData(TemperatureRead)
+}
+
+// VoltageRead
+func (s *Servo) VoltageRead() ([]byte, error) {
+	return s.getData(VoltageRead)
+}
+
+// PositionRead
+func (s *Servo) PositionRead() ([]byte, error) {
+	return s.getData(PositionRead)
+}
+
+// MotorModeWrite
+// speed: -1000 to 1000
+func (s *Servo) MotorModeWrite(isMotor uint16, speed uint16) error {
+	return s.sendInstruction(MotorModeWrite, []uint16{isMotor << 8, speed})
+}
+
+// MotorModeRead
+func (s *Servo) MotorModeRead() ([]byte, error) {
+	return s.getData(MotorModeRead)
+}
+
+// LoadOrUnloadWrite
+func (s *Servo) LoadOrUnloadWrite(isLoad uint16) error {
+	return s.sendInstruction(LoadOrUnloadWrite, []uint16{isLoad})
+}
+
+// LoadOrUnloadRead
+func (s *Servo) LoadOrUnloadRead() ([]byte, error) {
+	return s.getData(LoadOrUnloadRead)
+}
+
+// LEDControlWrite
+func (s *Servo) LEDControlWrite(isAlwayOn uint16) error {
+	return s.sendInstruction(LEDControlWrite, []uint16{isAlwayOn})
+}
+
+// LEDControlRead
+func (s *Servo) LEDControlRead() ([]byte, error) {
+	return s.getData(LEDControlRead)
+}
+
+// LEDErrorWrite
+// lightColor: 1~7
+func (s *Servo) LEDErrorWrite(lightColor uint16) error {
+	return s.sendInstruction(LEDErrorWrite, []uint16{lightColor})
+}
+
+// LEDErrorRead
+func (s *Servo) LEDErrorRead() ([]byte, error) {
+	return s.getData(LEDErrorRead)
+}