ex_NXTServo.nxc

This is an example of how to use the NXTServoPosition, NXTServoSpeed, NXTServoBatteryVoltage, SetNXTServoSpeed, SetNXTServoQuickPosition, SetNXTServoPosition, NXTServoReset, NXTServoHaltMacro, NXTServoResumeMacro, NXTServoPauseMacro, NXTServoInit, NXTServoGotoMacroAddress, NXTServoEditMacro, NXTServoQuitEdit, SetSensorLowspeed, NumOut, and Wait functions.

task main()
{
  SetSensorLowspeed(S1); // NXTServo is an i2c device

  // edit a macro
  char result;
  result = NXTServoEditMacro(S1, MS_ADDR_NXTSERVO);

  // TODO: write bytes of macro data to the device

  result = NXTServoQuitEdit(S1);

  // run a macro at address 0x30
  result = NXTServoGotoMacroAddress(S1, MS_ADDR_NXTSERVO, 0x30);
  Wait(SEC_1);

  // pause the macro
  result = NXTServoPauseMacro(S1, MS_ADDR_NXTSERVO);
  Wait(SEC_1);

  // resume the macro
  result = NXTServoResumeMacro(S1, MS_ADDR_NXTSERVO);
  Wait(SEC_1);

  // halt the macro
  result = NXTServoHaltMacro(S1, MS_ADDR_NXTSERVO);

  // set a non-default speed value for a servo (0 = full speed)
  result = SetNXTServoSpeed(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1, 10);

  // set a non-default quick position value for a servo
  result = SetNXTServoQuickPosition(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1, NXTSERVO_QPOS_MIN);

  // Wait a bit for the servo to reach its new position
  Wait(SEC_5);

  // set a non-default position value for a servo
  result = SetNXTServoPosition(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1, NXTSERVO_POS_CENTER);

  // store these non-default values as the initial position for this servo
  result = NXTServoInit(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1);

  // output the battery voltage
  NumOut(0, LCD_LINE1, NXTServoBatteryVoltage(S1, MS_ADDR_NXTSERVO));

  // output the current position
  NumOut(0, LCD_LINE2, NXTServoPosition(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1));

  // output the current speed
  NumOut(0, LCD_LINE3, NXTServoSpeed(S1, MS_ADDR_NXTSERVO, NXTSERVO_SERVO_1));

  Wait(SEC_5);

  // reset the device back to default speed/position (0/1500) settings for all servos
  result = NXTServoReset(S1, MS_ADDR_NXTSERVO);

  Wait(SEC_5);
}