output

rcb. output

new output()

Output control interface functions.
Source:

Methods

(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 rcb.output.set 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 0 and 2300 microseconds. Must be an array if the first parameter is also an array.
to number Ramp finishing value between 0 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:
Examples
//Illustrates the use of the ramp function
rcb.console.print("Initializing ESC...");
rcb.output.set("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.set(outputs,minVal);
rcb.wait(callback, 4);

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

(static) set(outputId, value, protocolopt)

Sets the control output. The first time calling this function the protocol must be specified to activate the output.
Parameters:
Name Type Attributes 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'].
value number range depends on the protocol used. Must be an array if the first parameter is also an array. Any value outside the protocol's supported range will turn off the output. See the Utilities tab to learn more about the available control protocols and their respective value ranges.
protocol boolean <optional>
 If using the external RCbenchmark control board you can switch the protocol to one of these: "pwm_50", "pwm_100", "pwm_200", "pwm_300", "pwm_400", "pwm_500", "dshot150", "dshot300", "dshot600", "dshot1200", "multishot", "oneshot42", "oneshot125".
Source:
Example
// Activate the PWM output
rcb.output.set("esc", 1000);
rcb.wait(callback1, 4);

// Setting outside the valid range (700-2300 for pwm) will turn off the output signal
function callback1(){
    rcb.output.set("esc", 3000);
    rcb.wait(callback2, 4);
}

// You can switch control protocol if using the RCB control board
// https://www.rcbenchmark.com/products/series-1580-1585-rc-control-board
function callback2(){
    rcb.output.set("esc", 0, "dshot150");
    rcb.wait(callback3, 4);
}

function callback3(){
    rcb.output.set("esc", 500);
    rcb.wait(rcb.endScript, 4);
}

(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 rcb.output.set 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 0 and 2300 microseconds. Must be an array if the first parameter is also an array.
to number Steps finishing value between 0 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:
Example
//Illustrates the use of the steps function
rcb.console.print("Initializing ESC...");
rcb.output.set("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 rcb.output.set function. Note that only one control function can be used simultaneously. You must wait for the steps/ramp function to finish to start another. You can set the "from" value higher than the "to" value, in which case the steps will go downwards. Important: the rate limiting is only between the steps. You should bring the throttle up to the correct throttle yourself and bring it back down yourself external to this function.
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 0 and 2300 microseconds. Must be an array if the first parameter is also an array.
to number Steps finishing value between 0 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, cooldownMinThrottle: default=0, 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. When activating the cooldown function, the time to complete a test dramatically increases. For this reason the cooldownMinThrottle setting lets the cooldown activate only at high throttle (by default all steps are followed by a cooldown step). 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:
Example
See the sample script called "Sweep - discrete V2" for usage sample.