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/* 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)
}
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