439 lines
20 KiB
Python
439 lines
20 KiB
Python
# -*- coding: utf-8 -*-
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#############################################################
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# This file was automatically generated on 2013-02-19. #
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# #
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# Bindings Version 2.0.4 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the generator git on tinkerforge.com #
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#############################################################
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try:
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from collections import namedtuple
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except ImportError:
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try:
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from .ip_connection import namedtuple
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except ValueError:
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from ip_connection import namedtuple
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try:
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from .ip_connection import Device, IPConnection, Error
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except ValueError:
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from ip_connection import Device, IPConnection, Error
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GetPulseWidth = namedtuple('PulseWidth', ['min', 'max'])
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GetDegree = namedtuple('Degree', ['min', 'max'])
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GetProtocol1BrickletName = namedtuple('Protocol1BrickletName', ['protocol_version', 'firmware_version', 'name'])
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GetIdentity = namedtuple('Identity', ['uid', 'connected_uid', 'position', 'hardware_version', 'firmware_version', 'device_identifier'])
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class BrickServo(Device):
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"""
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Device for controlling up to seven servos
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"""
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DEVICE_IDENTIFIER = 14
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CALLBACK_UNDER_VOLTAGE = 26
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CALLBACK_POSITION_REACHED = 27
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CALLBACK_VELOCITY_REACHED = 28
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FUNCTION_ENABLE = 1
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FUNCTION_DISABLE = 2
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FUNCTION_IS_ENABLED = 3
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FUNCTION_SET_POSITION = 4
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FUNCTION_GET_POSITION = 5
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FUNCTION_GET_CURRENT_POSITION = 6
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FUNCTION_SET_VELOCITY = 7
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FUNCTION_GET_VELOCITY = 8
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FUNCTION_GET_CURRENT_VELOCITY = 9
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FUNCTION_SET_ACCELERATION = 10
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FUNCTION_GET_ACCELERATION = 11
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FUNCTION_SET_OUTPUT_VOLTAGE = 12
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FUNCTION_GET_OUTPUT_VOLTAGE = 13
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FUNCTION_SET_PULSE_WIDTH = 14
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FUNCTION_GET_PULSE_WIDTH = 15
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FUNCTION_SET_DEGREE = 16
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FUNCTION_GET_DEGREE = 17
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FUNCTION_SET_PERIOD = 18
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FUNCTION_GET_PERIOD = 19
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FUNCTION_GET_SERVO_CURRENT = 20
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FUNCTION_GET_OVERALL_CURRENT = 21
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FUNCTION_GET_STACK_INPUT_VOLTAGE = 22
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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE = 23
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FUNCTION_SET_MINIMUM_VOLTAGE = 24
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FUNCTION_GET_MINIMUM_VOLTAGE = 25
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241
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FUNCTION_GET_CHIP_TEMPERATURE = 242
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FUNCTION_RESET = 243
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FUNCTION_GET_IDENTITY = 255
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def __init__(self, uid, ipcon):
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"""
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Creates an object with the unique device ID *uid* and adds it to
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the IP Connection *ipcon*.
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"""
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Device.__init__(self, uid, ipcon)
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self.api_version = (2, 0, 0)
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self.response_expected[BrickServo.FUNCTION_ENABLE] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_DISABLE] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_IS_ENABLED] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_POSITION] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_POSITION] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_CURRENT_POSITION] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_VELOCITY] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_VELOCITY] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_CURRENT_VELOCITY] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_ACCELERATION] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_ACCELERATION] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_OUTPUT_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_OUTPUT_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_PULSE_WIDTH] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_PULSE_WIDTH] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_DEGREE] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_DEGREE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_PERIOD] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_PERIOD] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_SERVO_CURRENT] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_OVERALL_CURRENT] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_STACK_INPUT_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_SET_MINIMUM_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_MINIMUM_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.CALLBACK_UNDER_VOLTAGE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickServo.CALLBACK_POSITION_REACHED] = BrickServo.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickServo.CALLBACK_VELOCITY_REACHED] = BrickServo.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_GET_CHIP_TEMPERATURE] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickServo.FUNCTION_RESET] = BrickServo.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickServo.FUNCTION_GET_IDENTITY] = BrickServo.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.callback_formats[BrickServo.CALLBACK_UNDER_VOLTAGE] = 'H'
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self.callback_formats[BrickServo.CALLBACK_POSITION_REACHED] = 'B h'
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self.callback_formats[BrickServo.CALLBACK_VELOCITY_REACHED] = 'B h'
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def enable(self, servo_num):
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"""
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Enables a servo (0 to 6). If a servo is enabled, the configured position,
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velocity, acceleration, etc. are applied immediately.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_ENABLE, (servo_num,), 'B', '')
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def disable(self, servo_num):
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"""
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Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a
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disabled servo will not hold its position if a load is applied.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_DISABLE, (servo_num,), 'B', '')
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def is_enabled(self, servo_num):
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"""
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Returns *true* if the specified servo is enabled, *false* otherwise.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_IS_ENABLED, (servo_num,), 'B', '?')
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def set_position(self, servo_num, position):
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"""
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Sets the position in °/100 for the specified servo.
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The default range of the position is -9000 to 9000, but it can be specified
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according to your servo with :func:`SetDegree`.
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If you want to control a linear servo or RC brushless motor controller or
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similar with the Servo Brick, you can also define lengths or speeds with
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:func:`SetDegree`.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_POSITION, (servo_num, position), 'B h', '')
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def get_position(self, servo_num):
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"""
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Returns the position of the specified servo as set by :func:`SetPosition`.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_POSITION, (servo_num,), 'B', 'h')
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def get_current_position(self, servo_num):
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"""
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Returns the *current* position of the specified servo. This may not be the
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value of :func:`SetPosition` if the servo is currently approaching a
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position goal.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_CURRENT_POSITION, (servo_num,), 'B', 'h')
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def set_velocity(self, servo_num, velocity):
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"""
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Sets the maximum velocity of the specified servo in °/100s. The velocity
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is accelerated according to the value set by :func:`SetAcceleration`.
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The minimum velocity is 0 (no movement) and the maximum velocity is 65535.
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With a value of 65535 the position will be set immediately (no velocity).
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The default value is 65535.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_VELOCITY, (servo_num, velocity), 'B H', '')
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def get_velocity(self, servo_num):
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"""
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Returns the velocity of the specified servo as set by :func:`SetVelocity`.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_VELOCITY, (servo_num,), 'B', 'H')
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def get_current_velocity(self, servo_num):
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"""
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Returns the *current* velocity of the specified servo. This may not be the
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value of :func:`SetVelocity` if the servo is currently approaching a
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velocity goal.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_CURRENT_VELOCITY, (servo_num,), 'B', 'H')
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def set_acceleration(self, servo_num, acceleration):
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"""
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Sets the acceleration of the specified servo in °/100s².
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The minimum acceleration is 1 and the maximum acceleration is 65535.
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With a value of 65535 the velocity will be set immediately (no acceleration).
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The default value is 65535.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_ACCELERATION, (servo_num, acceleration), 'B H', '')
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def get_acceleration(self, servo_num):
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"""
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Returns the acceleration for the specified servo as set by
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:func:`SetAcceleration`.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_ACCELERATION, (servo_num,), 'B', 'H')
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def set_output_voltage(self, voltage):
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"""
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Sets the output voltages with which the servos are driven in mV.
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The minimum output voltage is 5000mV and the maximum output voltage is
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9000mV.
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.. note::
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We recommend that you set this value to the maximum voltage that is
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specified for your servo, most servos achieve their maximum force only
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with high voltages.
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The default value is 5000.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_OUTPUT_VOLTAGE, (voltage,), 'H', '')
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def get_output_voltage(self):
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"""
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Returns the output voltage as specified by :func:`SetOutputVoltage`.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_OUTPUT_VOLTAGE, (), '', 'H')
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def set_pulse_width(self, servo_num, min, max):
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"""
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Sets the minimum and maximum pulse width of the specified servo in µs.
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Usually, servos are controlled with a
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`PWM <http://en.wikipedia.org/wiki/Pulse-width_modulation>`__, whereby the
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length of the pulse controls the position of the servo. Every servo has
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different minimum and maximum pulse widths, these can be specified with
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this function.
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If you have a datasheet for your servo that specifies the minimum and
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maximum pulse width, you should set the values accordingly. If your servo
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comes without any datasheet you have to find the values via trial and error.
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Both values have a range from 1 to 65535 (unsigned 16-bit integer). The
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minimum must be smaller than the maximum.
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The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and
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maximum pulse width.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_PULSE_WIDTH, (servo_num, min, max), 'B H H', '')
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def get_pulse_width(self, servo_num):
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"""
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Returns the minimum and maximum pulse width for the specified servo as set by
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:func:`SetPulseWidth`.
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"""
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return GetPulseWidth(*self.ipcon.send_request(self, BrickServo.FUNCTION_GET_PULSE_WIDTH, (servo_num,), 'B', 'H H'))
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def set_degree(self, servo_num, min, max):
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"""
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Sets the minimum and maximum degree for the specified servo (by default
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given as °/100).
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This only specifies the abstract values between which the minimum and maximum
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pulse width is scaled. For example: If you specify a pulse width of 1000µs
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to 2000µs and a degree range of -90° to 90°, a call of :func:`SetPosition`
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with 0 will result in a pulse width of 1500µs
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(-90° = 1000µs, 90° = 2000µs, etc.).
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Possible usage:
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* The datasheet of your servo specifies a range of 200° with the middle position
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at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
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* You measure a range of 220° on your servo and you don't have or need a middle
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position. In this case you can set the minimum to 0 and the maximum to 22000.
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* You have a linear servo with a drive length of 20cm, In this case you could
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set the minimum to 0 and the maximum to 20000. Now you can set the Position
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with :func:`SetPosition` with a resolution of cm/100. Also the velocity will
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have a resolution of cm/100s and the acceleration will have a resolution of
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cm/100s².
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* You don't care about units and just want the highest possible resolution. In
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this case you should set the minimum to -32767 and the maximum to 32767.
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* You have a brushless motor with a maximum speed of 10000 rpm and want to
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control it with a RC brushless motor controller. In this case you can set the
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minimum to 0 and the maximum to 10000. :func:`SetPosition` now controls the rpm.
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Both values have a possible range from -32767 to 32767
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(signed 16-bit integer). The minimum must be smaller than the maximum.
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The default values are -9000 and 9000 for the minimum and maximum degree.
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_DEGREE, (servo_num, min, max), 'B h h', '')
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def get_degree(self, servo_num):
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"""
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Returns the minimum and maximum degree for the specified servo as set by
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:func:`SetDegree`.
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"""
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return GetDegree(*self.ipcon.send_request(self, BrickServo.FUNCTION_GET_DEGREE, (servo_num,), 'B', 'h h'))
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def set_period(self, servo_num, period):
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"""
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Sets the period of the specified servo in µs.
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Usually, servos are controlled with a
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`PWM <http://en.wikipedia.org/wiki/Pulse-width_modulation>`__. Different
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servos expect PWMs with different periods. Most servos run well with a
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period of about 20ms.
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If your servo comes with a datasheet that specifies a period, you should
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set it accordingly. If you don't have a datasheet and you have no idea
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what the correct period is, the default value (19.5ms) will most likely
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work fine.
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The minimum possible period is 2000µs and the maximum is 65535µs.
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The default value is 19.5ms (19500µs).
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_PERIOD, (servo_num, period), 'B H', '')
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def get_period(self, servo_num):
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"""
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Returns the period for the specified servo as set by :func:`SetPeriod`.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_PERIOD, (servo_num,), 'B', 'H')
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def get_servo_current(self, servo_num):
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"""
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Returns the current consumption of the specified servo in mA.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_SERVO_CURRENT, (servo_num,), 'B', 'H')
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def get_overall_current(self):
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"""
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Returns the current consumption of all servos together in mA.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_OVERALL_CURRENT, (), '', 'H')
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def get_stack_input_voltage(self):
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"""
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Returns the stack input voltage in mV. The stack input voltage is the
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voltage that is supplied via the stack, i.e. it is given by a
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Step-Down or Step-Up Power Supply.
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_STACK_INPUT_VOLTAGE, (), '', 'H')
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def get_external_input_voltage(self):
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"""
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Returns the external input voltage in mV. The external input voltage is
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given via the black power input connector on the Servo Brick.
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If there is an external input voltage and a stack input voltage, the motors
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will be driven by the external input voltage. If there is only a stack
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voltage present, the motors will be driven by this voltage.
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.. warning::
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This means, if you have a high stack voltage and a low external voltage,
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the motors will be driven with the low external voltage. If you then remove
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the external connection, it will immediately be driven by the high
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stack voltage
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, (), '', 'H')
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def set_minimum_voltage(self, voltage):
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"""
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Sets the minimum voltage in mV, below which the :func:`UnderVoltage` callback
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is triggered. The minimum possible value that works with the Servo Brick is 5V.
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You can use this function to detect the discharge of a battery that is used
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to drive the stepper motor. If you have a fixed power supply, you likely do
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not need this functionality.
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The default value is 5V (5000mV).
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"""
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self.ipcon.send_request(self, BrickServo.FUNCTION_SET_MINIMUM_VOLTAGE, (voltage,), 'H', '')
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def get_minimum_voltage(self):
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"""
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Returns the minimum voltage as set by :func:`SetMinimumVoltage`
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_MINIMUM_VOLTAGE, (), '', 'H')
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def get_protocol1_bricklet_name(self, port):
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"""
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Returns the firmware and protocol version and the name of the Bricklet for a given port.
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This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.
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.. versionadded:: 2.0.0~(Firmware)
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"""
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return GetProtocol1BrickletName(*self.ipcon.send_request(self, BrickServo.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, (port,), 'c', 'B 3B 40s'))
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def get_chip_temperature(self):
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"""
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Returns the temperature in °C/10 as measured inside the microcontroller. The
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value returned is not the ambient temperature!
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The temperature is only proportional to the real temperature and it has an
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accuracy of +-15%. Practically it is only useful as an indicator for
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temperature changes.
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.. versionadded:: 1.1.3~(Firmware)
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"""
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return self.ipcon.send_request(self, BrickServo.FUNCTION_GET_CHIP_TEMPERATURE, (), '', 'h')
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def reset(self):
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"""
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Calling this function will reset the Brick. Calling this function
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on a Brick inside of a stack will reset the whole stack.
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After a reset you have to create new device objects,
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calling functions on the existing ones will result in
|
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undefined behavior!
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.. versionadded:: 1.1.3~(Firmware)
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"""
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|
self.ipcon.send_request(self, BrickServo.FUNCTION_RESET, (), '', '')
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def get_identity(self):
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"""
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|
Returns the UID, the UID where the Brick is connected to,
|
|
the position, the hardware and firmware version as well as the
|
|
device identifier.
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|
|
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The position can be '0'-'8' (stack position).
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|
|
|
The device identifiers can be found :ref:`here <device_identifier>`.
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|
.. versionadded:: 2.0.0~(Firmware)
|
|
"""
|
|
return GetIdentity(*self.ipcon.send_request(self, BrickServo.FUNCTION_GET_IDENTITY, (), '', '8s 8s c 3B 3B H'))
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|
|
|
def register_callback(self, id, callback):
|
|
"""
|
|
Registers a callback with ID *id* to the function *callback*.
|
|
"""
|
|
self.registered_callbacks[id] = callback
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|
|
|
Servo = BrickServo # for backward compatibility
|