output - Documentation

new output()

Output control interface functions.

Source:

rcbApi.js, line 448

Methods

(static) pwm(outputId, pulseWidth)

Controls the pwm signal outputs, effective immediatly.

Parameters:

Name	Type	Description
`outputId`	string	"esc", "servo1", "servo2", "servo3", "escA", "escB", "servoA", "servoB". escA, servoA, escB, servoB are for the Series 1780 coaxial channels. For the mono version of Series 1780, use the A side. Can also be an array of multiple outputs eg. ['escA','servoA'].
`pulseWidth`	number	Pulse width between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.

Source:

rcbApi.js, line 557

Examples

//Sets the motor at throttle 1300 
rcb.console.print("Allow time to initialize ESC");
rcb.output.pwm("esc",1000);
rcb.wait(callback, 4);

function callback(){
    rcb.console.print("Run motor");
    rcb.output.pwm("esc",1300);
    rcb.wait(rcb.endScript, 5);
}

//Shows how to use multiple outputs simultaneously 
rcb.console.print("Allow time to initialize ESC");
rcb.output.pwm(["escA","escB"],[1000,1000]);
rcb.wait(callback, 4);

function callback(){
    rcb.console.print("Run motor");
    rcb.output.pwm(["escA","escB"],[1300,1400]);
    rcb.wait(rcb.endScript, 5);
}

(static) ramp(outputId, from, to, duration, callback)

Smoothly ramps up or down the pwm signal. For safety reasons, will only work if the output was previously activated using the pwm function. To cancel/update a ramp in progress, simply call this function again with new parameters. For example if you want to stop the ramp with the output at 1000us, call: rcb.output.ramp("esc", 1000, 1000, 0, null); Note that only one control function can be used simultaneously. You must wait for the ramp/steps function to start another.

Parameters:

Name	Type	Description
`outputId`	string	outputId - "esc", "servo1", "servo2", "servo3", "escA", "escB", "servoA", "servoB". escA, servoA, escB, servoB are for the Series 1780 coaxial channels. For the mono version of Series 1780, use the A side. Can also be an array of multiple outputs eg. ['escA','servoA'].
`from`	number	Ramp starting value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`to`	number	Ramp finishing value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`duration`	number	The duration of the ramp in seconds.
`callback`	rampDone	Function to execute when the ramp is finished.

Source:

rcbApi.js, line 606

Examples

//Illustrates the use of the ramp function
rcb.console.print("Initializing ESC...");
rcb.output.pwm("esc",1000);
rcb.wait(callback, 4);

function callback(){
    var from = 1000;
    var to = 1400;
    var duration = 15;
    var done = rcb.endScript;
    rcb.output.ramp("esc", from, to, duration, done);
}

//Same as example above but with multiple outputs simultaneously.
rcb.console.print("Initializing ESC...");
var outputs = ["escA","escB"];
var minVal = [1000,1000];
var maxVal = [1400,1300];
rcb.output.pwm(outputs,minVal);
rcb.wait(callback, 4);

function callback(){
    var duration = 15;
    var done = rcb.endScript;
    rcb.output.ramp(outputs, minVal, maxVal, duration, done);
}

(static) steps(outputId, from, to, steps, callbackopt)

NOTE: Consider the steps2 function instead, which has a few extra features like a cooldown time. Steps up or down the pwm signal allowing you to perform tasks between each step. For safety reasons, will only work if the output was previously activated using the pwm function. Note that only one control function can be used simultaneously. You must wait for the steps/ramp function to finish to start another.

Parameters:

Name	Type	Attributes	Description
`outputId`	string		outputId - "esc", "servo1", "servo2", "servo3", "escA", "escB", "servoA", "servoB". escA, servoA, escB, servoB are for the Series 1780 coaxial channels. For the mono version of Series 1780, use the A side. Can also be an array of multiple outputs eg. ['escA','servoA'].
`from`	number		Steps starting value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`to`	number		Steps finishing value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`steps`	integer		Number of steps to perform.
`callback`	stepDone	<optional>	Function to execute when a step finishes. This function should introduce some sort of delay for the steps function to be effective.

Source:

rcbApi.js, line 710

Example

//Illustrates the use of the steps function
rcb.console.print("Initializing ESC...");
rcb.output.pwm("esc",1000);
rcb.wait(callback, 4);
var sensorPrintId;

function callback(){
    var from = 1000;
    var to = 1400;
    var steps = 10;
    rcb.output.steps("esc", from, to, steps, stepFct);
}

//Function called at every step
function stepFct(lastStep, nextStepFct){
    if(lastStep){
        rcb.endScript();
    }else{
        rcb.console.setVerbose(false);
        rcb.wait(function(){ //2 seconds settling time

            //Do stuff here... (record to log file, calculate something,  etc...)
            rcb.sensors.read(readDone);
           
        }, 2);
    }
    
    //Function called when read complete
    function readDone(result){
        var speed = result.motorElectricalSpeed.displayValue;
        var unit = result.motorElectricalSpeed.displayUnit;
        if(sensorPrintId === undefined) sensorPrintId = rcb.console.print("");
        rcb.console.overwrite("Motor Speed: " + speed + " " + unit, sensorPrintId);
        
        //When done working, go to the next step
        rcb.console.setVerbose(true);
        nextStepFct();
    }
}

(static) steps2(outputId, from, to, steps, stepCallback, finishedCallback, paramsopt)

Compared to the steps function, the steps2 function has built-in cooldown time, settling time, and signal rate limiting. Steps up or down the pwm signal allowing you to perform tasks between each step. For safety reasons, will only work if the output was previously activated using the pwm function. Note that only one control function can be used simultaneously. You must wait for the steps/ramp function to finish to start another.

Parameters:

Name	Type	Attributes	Description
`outputId`	string		outputId - "esc", "servo1", "servo2", "servo3", "escA", "escB", "servoA", "servoB". escA, servoA, escB, servoB are for the Series 1780 coaxial channels. For the mono version of Series 1780, use the A side. Can also be an array of multiple outputs eg. ['escA','servoA'].
`from`	number		Steps starting value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`to`	number		Steps finishing value between 700 and 2300 microseconds. Must be an array if the first parameter is also an array.
`steps`	integer		Number of steps to perform.
`stepCallback`	stepCallback		Function to execute when a step finishes. This function should introduce some sort of delay for the steps function to be effective (by calling the nextStep function).
`finishedCallback`	finishedCallback		Function to execute when the steps are all done.
`params`	Object	<optional>	Optional parameters: {steps_qty: default=5, settlingTime_s: default=2, cooldownTime_s: default=0, cooldownThrottle_us: default=from, max_slew_rate_us_per_s: default=100}. Some motors heat up quickly, and may require a cooldown period between steps. You can also optionally specify the throttle at which to cooldown. Some motors can generate too much torque from step inputs, and some power supplies will not tolerate a motor spinning down quickly. For this reason you can set a rate limit to the throttle signal. Zero disables the rate-limit feature.

Source:

rcbApi.js, line 771

Example

See the sample script called "Sweep - discrete V2" for usage sample.