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Supported Hardware

This driver works with a Phidgets Servo Controller

ROS API

PhidgetServo

PhidgetServo is a driver for Phidgets Servo Controller. This driver was designed to control the movement of the arm of a Corobot.

Subscribed Topics

phidgetServo_setPosition (corobot_msgs/ServoPosition)

• Set the position of a servo motor

phidgetServo_setType (corobot_msgs/ServoType)

• Set the type of a servo motor

Published Topics

phidgetServo_getPosition (corobot_msgs/ServoPosition)

• get new position of a servo motor

Services

phidgetServo_getEngaged (corobot_srvs/GetEngaged)

• Get the status of a servo motor connected, to know if it is engaged ( powered on) or not.

phidgetServo_setEngaged (corobot_srvs/SetEngaged)

• Set the status of a servo motor, engaged( powered on) or not.

phidgetServo_getPosition (corobot_srvs/GetPosition)

• Get the position of a servo motor.

phidgetServo_setPosition (corobot_srvs/SetPosition)

• Set the position of a servo motor.

phidgetServo_getPositionMax (corobot_srvs/GetPosition)

• Get the maximum position possible of a servo motor.

phidgetServo_getPositionMin (corobot_srvs/GetPosition)

• Get the minimum position possible of a servo motor

phidgetServo_getMotorCount (corobot_srvs/GetMotorCount)

• Get the maximum number of servo motors that can be connected to this Phidget Servo controller.

phidgetServo_setServoParameters (corobot_srvs/SetParam)

• Get the parameters of a servo motor.

phidgetServo_getSerialNumber (corobot_srvs/GetSerialNumber)

• Get the serial number of the current phidget servo controller. Useful if there are two phidget servo controllers connected.

phidgetServo_getServoType (corobot_srvs/GetType)

• Get the type of servo motor pluged in

phidgetServo_setServoType (corobot_srvs/SetType)

• Set the servo motor to one of the defined types

Parameters

serialNumber (int, default: -1)

• If more than one Phidget Servo controller you can set the serial number of the one you want to use