Table of Contents
This appendix exhautively describes the UObjects availables in the Lego Mindstorm NXT URBI server.
Servo describes a motor. A Servo instance contains the following attributes:
Table A.1. Servo's attributes:
| Name | Description |
|---|---|
| val | Motor's position. Read only. |
| speed | Motor's speed, from -100 to 100. |
| PGain | Proportional gain for the PID control. |
| IGain | Integral gain for the PID control. |
| DGain | Derivative gain for the PID control. |
| Precision | Precision requiered for the PID control. |
| port | The port where the servo is plugged. It can be "A", "B" or "C". You can change the value while the server is running. Beware, if you change the port, that will free the old port (so you will be able to create another device on it) and will busy the new one (so you won't be able to create another device on it). |
| init(port_) | The UObject constructor.
Example: wheel = new Servo("A");
|