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20_FRM_SERVO.pm
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20_FRM_SERVO.pm
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########################################################################################
# $Id: 20_FRM_SERVO.pm 23054 2020-10-30 18:16:24Z jensb $
########################################################################################
=encoding UTF-8
=head1 NAME
FHEM module for one Firmata PMW controlled servo output
=head1 LICENSE AND COPYRIGHT
Copyright (C) 2013 ntruchess
Copyright (C) 2020 jensb
All rights reserved
This script is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This script is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this script; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
A copy of the GNU General Public License, Version 2 can also be found at
http://www.gnu.org/licenses/old-licenses/gpl-2.0.
This copyright notice MUST APPEAR in all copies of the script!
=cut
package main;
use strict;
use warnings;
#add FHEM/lib to @INC if it's not allready included. Should rather be in fhem.pl than here though...
BEGIN {
if (!grep(/FHEM\/lib$/,@INC)) {
foreach my $inc (grep(/FHEM$/,@INC)) {
push @INC,$inc."/lib";
};
};
};
#####################################
# number of arguments
my %sets = (
"angle" => 1,
);
sub FRM_SERVO_Initialize
{
my ($hash) = @_;
$hash->{SetFn} = "FRM_SERVO_Set";
$hash->{DefFn} = "FRM_Client_Define";
$hash->{InitFn} = "FRM_SERVO_Init";
$hash->{UndefFn} = "FRM_Client_Undef";
$hash->{AttrFn} = "FRM_SERVO_Attr";
$hash->{AttrList} = "min-pulse max-pulse IODev $main::readingFnAttributes";
main::LoadModule("FRM");
}
sub FRM_SERVO_Init
{
my ($hash,$args) = @_;
my $name = $hash->{NAME};
if (defined($main::defs{$name}{IODev_ERROR})) {
return 'Perl module Device::Firmata not properly installed';
}
my $ret = FRM_Init_Pin_Client($hash,$args,Device::Firmata::Constants->PIN_SERVO);
if (defined($ret)) {
readingsSingleUpdate($hash, 'state', "error initializing: $ret", 1);
return $ret;
}
eval {
my $firmata = FRM_Client_FirmataDevice($hash);
$hash->{resolution}=$firmata->{metadata}{servo_resolutions}{$hash->{PIN}} if (defined $firmata->{metadata}{servo_resolutions});
FRM_SERVO_apply_attribute($hash,"max-pulse"); #sets min-pulse as well
};
if ($@) {
$ret = FRM_Catch($@);
readingsSingleUpdate($hash, 'state', "error initializing: $ret", 1);
return $ret;
}
main::readingsSingleUpdate($hash,"state","Initialized",1);
return undef;
}
sub FRM_SERVO_Attr
{
my ($command,$name,$attribute,$value) = @_;
my $hash = $main::defs{$name};
eval {
if ($command eq "set") {
ARGUMENT_HANDLER: {
$attribute eq "IODev" and do {
if ($main::init_done and (!defined ($hash->{IODev}) or $hash->{IODev}->{NAME} ne $value)) {
FRM_Client_AssignIOPort($hash,$value);
FRM_Init_Client($hash) if (defined ($hash->{IODev}));
}
last;
};
($attribute eq "min-pulse" || $attribute eq "max-pulse") and do {
if ($main::init_done) {
if (defined($main::defs{$name}{IODev_ERROR})) {
die 'Perl module Device::Firmata not properly installed';
}
$main::attr{$name}{$attribute}=$value;
FRM_SERVO_apply_attribute($hash,$attribute);
}
last;
};
}
}
};
if ($@) {
my $ret = FRM_Catch($@);
$hash->{STATE} = "$command $attribute error: " . $ret;
return $hash->{STATE};
}
}
sub FRM_SERVO_apply_attribute
{
my ($hash,$attribute) = @_;
if ( $attribute eq "min-pulse" || $attribute eq "max-pulse" ) {
my $name = $hash->{NAME};
# defaults are taken from: http://arduino.cc/en/Reference/ServoAttach
FRM_Client_FirmataDevice($hash)->servo_config($hash->{PIN},{min_pulse => main::AttrVal($name,"min-pulse",544), max_pulse => main::AttrVal($name,"max-pulse",2400)});
}
}
sub FRM_SERVO_Set
{
my ($hash, $name, $cmd, @a) = @_;
return "set command missing" if(!defined($cmd));
my @match = grep( $_ =~ /^$cmd($|:)/, keys %sets );
return "unknown set command '$cmd', choose one of " . join(" ", sort keys %sets) if ($cmd eq '?' || @match == 0);
return "$cmd requires $sets{$match[0]} argument" unless (@a == $sets{$match[0]});
if (defined($main::defs{$name}{IODev_ERROR})) {
return 'Perl module Device::Firmata not properly installed';
}
my $value = shift @a;
eval {
FRM_Client_FirmataDevice($hash)->servo_write($hash->{PIN},$value);
main::readingsSingleUpdate($hash,"state",$value, 1);
};
if ($@) {
my $ret = FRM_Catch($@);
$hash->{STATE} = "set $cmd error: " . $ret;
return $hash->{STATE};
}
return undef;
}
1;
=pod
=head1 CHANGES
05.09.2020 jensb
o check for IODev install error in Init and Set
o prototypes removed
o set argument verifier improved
19.10.2020 jensb
o annotaded module help of attributes for FHEMWEB
=cut
=pod
=head1 FHEM COMMANDREF METADATA
=over
=item device
=item summary Firmata: PWM controlled servo output
=item summary_DE Firmata: PWM gesteuerter Servo Ausgang
=back
=head1 INSTALLATION AND CONFIGURATION
=begin html
<a name="FRM_SERVO"/>
<h3>FRM_SERVO</h3>
<ul>
represents a pin of an <a href="http://www.arduino.cc">Arduino</a> running <a href="http://www.firmata.org">Firmata</a>
configured to drive a pwm-controlled servo-motor.<br>
The value set will be drive the shaft of the servo to the specified angle. see <a href="http://arduino.cc/en/Reference/ServoWrite">Servo.write</a> for values and range<br>
Requires a defined <a href="#FRM">FRM</a>-device to work.<br><br>
<a name="FRM_SERVOdefine"/>
<b>Define</b>
<ul>
<code>define <name> FRM_SERVO <pin></code> <br>
Defines the FRM_SERVO device. <pin>> is the arduino-pin to use.
</ul>
<br>
<a name="FRM_SERVOset"/>
<b>Set</b><br>
<ul>
<code>set <name> angle <value></code><br>sets the angle of the servo-motors shaft to the value specified (in degrees).<br>
</ul>
<a name="FRM_SERVOget"/>
<b>Get</b><br>
<ul>
N/A
</ul><br>
<a name="FRM_SERVOattr"/>
<b>Attributes</b><br>
<ul>
<a name="IODev"/>
<li><a href="#IODev">IODev</a><br>
Specify which <a href="#FRM">FRM</a> to use. Only required if there is more than one FRM-device defined.
</li>
<a name="min-pulse"/>
<li>min-pulse<br>
sets the minimum puls-width to use. Defaults to 544. For most servos this translates into a rotation of 180° counterclockwise.
</li>
<a name="max-pulse"/>
<li>max-pulse<br>
sets the maximum puls-width to use. Defaults to 2400. For most servos this translates into a rotation of 180° clockwise.
</li>
<li><a href="#attributes">global attributes</a></li>
<li><a href="#readingFnAttributes">readingFnAttributes</a></li>
</ul>
</ul><br>
=end html
=begin html_DE
<a name="FRM_SERVO"/>
<h3>FRM_SERVO</h3>
<ul>
Die Modulbeschreibung von FRM_SERVO gibt es nur auf <a href="commandref.html#FRM_SERVO">Englisch</a>. <br>
</ul><br>
=end html_DE
=cut