phidgets-ffi 0.0.5 → 0.1.0

data/examples/stepper.rb

@@ -0,0 +1,87 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+st = Phidgets::Stepper.new
+
+puts "Wait for PhidgetStepper to attached..."
+	  
+#The following method runs when the PhidgetStepper is attached to the system
+st.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Inputs: #{device.inputs.size}"
+	puts "# Steppers: #{device.steppers.size}"
+	
+	puts "Digital input[0] state: #{device.inputs[0].state}"
+	
+	device.steppers[0].engaged = true
+	
+	device.steppers[0].acceleration = (device.steppers[0].acceleration_min) * 2
+	device.steppers[0].velocity_limit = (device.steppers[0].velocity_max) / 2	
+
+	begin
+		puts "Stepper 0: Current Position: #{device.steppers[0].current_position}"
+	rescue Phidgets::Error::UnknownVal => e
+		puts "Exception caught: #{e.message}"
+	end
+
+end
+
+st.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+st.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+st.on_input_change do |device, input, state, obj|
+    print "Input #{input.index}'s state has changed to #{state}\n"
+end
+
+st.on_velocity_change do |device, stepper, velocity, obj|
+    puts "Stepper #{stepper.index}'s velocity has changed to #{velocity}"
+end
+
+st.on_position_change do |device, stepper, position, obj|
+    puts "Stepper #{stepper.index}'s position has changed to #{position}"
+end
+
+st.on_current_change do |device, stepper, current, obj|
+    puts "Stepper #{stepper.index}'s current has changed to #{current}"
+end
+
+sleep 5
+
+if(st.attached?)
+	sleep 2
+
+	puts 'Moving to position 200'
+	st.steppers[0].target_position = 200
+	sleep 2
+
+	puts 'Moving to position 1200'
+	st.steppers[0].target_position = 1200	
+	sleep 2
+
+	puts 'Moving to position 0'
+	st.steppers[0].target_position = 0
+	sleep 2
+	
+	if (st.steppers[0].stopped == true)
+		puts 'Stepper 0 has stopped'
+	else
+		puts 'Stepper 0 has not stopped yet'
+	end
+	
+	st.steppers[0].engaged = false	
+end
+
+sleep 1
+st.close

data/examples/temperature_sensor.rb

@@ -0,0 +1,49 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+temp = Phidgets::TemperatureSensor.new
+
+puts "Wait for PhidgetTemperatureSensor to attached..."
+	  
+#The following method runs when the PhidgetTemperatureSensor is attached to the system
+temp.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Inputs: #{device.thermocouples.size}"
+	
+	begin	
+		puts temp.thermocouples[0].inspect
+		temp.thermocouples[0].sensitivity = 0.02
+		puts "Thermocouple Type: #{temp.thermocouples[0].type = Phidgets::FFI::TemperatureSensorThermocoupleTypes[:thermocouple_type_k_type]}"
+		sleep 1
+		puts "Temperature min: #{temp.thermocouples[0].temperature_min} degrees celcius"
+		puts "Temperature max: #{temp.thermocouples[0].temperature_max} degrees celcius"
+		puts "Temperature[0]: #{temp.thermocouples[0].temperature} degrees celcius"
+		puts ''
+	rescue Phidgets::Error::UnknownVal => e
+		puts "Exception caught: #{e.message}"
+	end
+
+end
+	 
+temp.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+temp.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+temp.on_temperature_change do |device, input, temperature, obj|
+ 	puts "Input #{input.index}'s temperature changed to #{temperature}"
+end 
+
+sleep 5
+
+temp.close

data/examples/text_lcd.rb

@@ -0,0 +1,101 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+lcd = Phidgets::TextLCD.new
+
+puts "Wait for PhidgetTextLCD to attached..."
+	  
+#The following method runs when the PhidgetTextLCD is attached to the system
+lcd.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Screens: #{device.screens.size}"
+
+	puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# screens: #{device.screens.size}"
+
+	if(lcd.id.to_s == "textlcd_adapter") #the TextLCD Adapter supports screen_size and initialize_screen
+	    device.screens[0].screen_size = Phidgets::FFI::TextLCDScreenSizes[:screen_size_2x8]
+		device.screens[0].initialize_screen
+		device.screens[1].initialize_screen
+	end
+	
+	sleep 1
+
+	device.screens[0].contrast = 100
+	device.screens[0].back_light = true
+	device.screens[0].cursor  = true
+	device.screens[0].cursor_blink  = true
+	sleep 1
+
+	puts device.screens[0].inspect
+
+end
+	 
+lcd.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+lcd.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+sleep 2
+
+if(lcd.attached?)
+
+	sleep 3
+	
+	puts "Screen 0, # rows: #{lcd.screens[0].rows.size}"
+	puts "Screen 0, # columns: #{lcd.screens[0].rows[0].maximum_length}"
+	
+	puts 'Displaying row number'
+	lcd.screens[0].rows.size.times do |i|
+		lcd.screens[0].rows[i].display_string = "Row #{i}"
+	end
+	
+	sleep 3
+	#Switching screens if supported
+	if(lcd.id.to_s == "textlcd_adapter")
+		puts 'Switching to the next screen'
+		lcd.screens[1].screen_size = Phidgets::FFI::TextLCDScreenSizes[:screen_size_2x16]
+		lcd.screens[1].cursor_blink  = true
+		lcd.screens[1].rows[0].display_string = "Screen #2"
+	end
+
+	sleep 3
+	#Storing 7 custom characters as well as displaying them.
+	puts 'Displaying custom characters'
+	lcd.custom_characters[0].set_custom_character(949247, 536)     
+	lcd.custom_characters[1].set_custom_character(1015791, 17180)     
+	lcd.custom_characters[2].set_custom_character(1048039, 549790)    
+	lcd.custom_characters[3].set_custom_character(1031395, 816095)    
+	lcd.custom_characters[4].set_custom_character(498785, 949247)     
+	lcd.custom_characters[5].set_custom_character(232480, 1015791)    
+	lcd.custom_characters[6].set_custom_character(99328, 1048039)     
+	lcd.screens[0].rows[0].display_string = "#{lcd.custom_characters[0].string_code}#{lcd.custom_characters[1].string_code}#{lcd.custom_characters[2].string_code}#{lcd.custom_characters[3].string_code}#{lcd.custom_characters[4].string_code}#{lcd.custom_characters[5].string_code}#{lcd.custom_characters[6].string_code}"
+
+	sleep 3
+	
+	#Display 'Hello' with ASCII Code(hexadecimal)
+	puts 'Displaying characters in ASCII code'
+	lcd.screens[0].rows[1].display_string = "\x48\x65\x6c\x6c\x6f"
+	
+	
+	#Displays a single character for a specific column for a row
+	lcd.screens[0].rows[1].display_character(5, 0x21)  #hex code for exclamation mark in ASCII
+
+end
+
+sleep 5
+lcd.close

data/lib/phidgets-ffi.rb

@@ -1,18 +1,49 @@
 require 'ffi'
 require 'phidgets-ffi/phidgets-ffi'
+
 require 'phidgets-ffi/ffi/core_ext'
 require 'phidgets-ffi/ffi/constants'
 require 'phidgets-ffi/ffi/common'
 require 'phidgets-ffi/ffi/dictionary'
 require 'phidgets-ffi/ffi/manager'
 require 'phidgets-ffi/ffi/log'
-require 'phidgets-ffi/ffi/servo'
+require 'phidgets-ffi/ffi/accelerometer'
+require 'phidgets-ffi/ffi/advanced_servo'
+require 'phidgets-ffi/ffi/analog'
+require 'phidgets-ffi/ffi/bridge'
+require 'phidgets-ffi/ffi/encoder'
+require 'phidgets-ffi/ffi/frequency_counter'
+require 'phidgets-ffi/ffi/gps'
 require 'phidgets-ffi/ffi/interface_kit'
+require 'phidgets-ffi/ffi/ir'
+require 'phidgets-ffi/ffi/led'
+require 'phidgets-ffi/ffi/motor_control'
+require 'phidgets-ffi/ffi/rfid'
+require 'phidgets-ffi/ffi/servo'
+require 'phidgets-ffi/ffi/spatial'
+require 'phidgets-ffi/ffi/stepper'
+require 'phidgets-ffi/ffi/temperature_sensor'
+require 'phidgets-ffi/ffi/text_lcd'
 
 require 'phidgets-ffi/common'
 require 'phidgets-ffi/log'
 require 'phidgets-ffi/dictionary'
-require 'phidgets-ffi/error'
 require 'phidgets-ffi/manager'
+require 'phidgets-ffi/error'
+require 'phidgets-ffi/accelerometer'
+require 'phidgets-ffi/advanced_servo'
+require 'phidgets-ffi/analog'
+require 'phidgets-ffi/bridge'
+require 'phidgets-ffi/encoder'
+require 'phidgets-ffi/frequency_counter'
+require 'phidgets-ffi/gps'
+require 'phidgets-ffi/interface_kit'
+require 'phidgets-ffi/ir'
+require 'phidgets-ffi/led'
+require 'phidgets-ffi/motor_control'
+require 'phidgets-ffi/rfid'
 require 'phidgets-ffi/servo'
-require 'phidgets-ffi/interface_kit'
+require 'phidgets-ffi/spatial'
+require 'phidgets-ffi/stepper'
+require 'phidgets-ffi/temperature_sensor'
+require 'phidgets-ffi/text_lcd'

data/lib/phidgets-ffi/accelerometer.rb

@@ -0,0 +1,122 @@
+module Phidgets
+
+  # This class represents a PhidgetAccelerometer.
+  class Accelerometer
+ 
+    Klass = Phidgets::FFI::CPhidgetAccelerometer
+    include Phidgets::Common
+    
+	# Collection of accelerometer axes
+	# @return [AccelerometerAxes] 
+    attr_reader :axes
+
+	attr_reader :attributes
+	
+	# The attributes of a PhidgetAccelerometer
+    def attributes
+      super.merge({
+		  :axes => axes.size
+      })
+    end
+
+    # Sets an acceleration change handler callback function. This is called when the acceleration of an axis changes by more than the set sensitivity.
+    #
+    # @param [String] obj Object to pass to the callback function. This is optional.
+    # @param [Proc] Block When the callback is executed, the device and object are yielded to this block.
+    # @example
+    #     acc.on_acceleration_change do |device, axis, acceleration, obj|
+    #       puts "Axis #{axis.index}'s acceleration changed to #{acceleration}"
+    #     end
+    # As this runs in it's own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.
+    # @return [Boolean] returns true or raises an error
+    def on_acceleration_change(obj=nil, &block)
+	  @on_acceleration_change_obj = obj
+      @on_acceleration_change = Proc.new { |device, obj_ptr, ind, acc|
+		yield self, axes[ind], acc, object_for(obj_ptr)
+	}
+      Klass.set_OnAccelerationChange_Handler(@handle, @on_acceleration_change, pointer_for(obj))
+    end
+
+	private
+    
+	def load_device_attributes
+		load_axes
+	end
+
+    def load_axes
+
+	  ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getAxisCount(@handle, ptr)
+      @axes = []
+      ptr.get_int(0).times do |i|
+        @axes << AccelerometerAxes.new(@handle, i)
+      end
+
+    end
+
+	def remove_specific_event_handlers
+	   Klass.set_OnAccelerationChange_Handler(@handle, nil, nil)
+	end
+  
+  # This class represents an axis of acceleration for a PhidgetAccelerometer. All the properties of an accelerometer axis are stored and modified in this class.
+  class AccelerometerAxes
+    Klass = Phidgets::FFI::CPhidgetAccelerometer
+	
+	private
+    def initialize(handle, index)
+      @handle, @index = handle, index.to_i
+    end
+
+	public
+
+    # Displays data for the axis
+    def inspect
+      "#<#{self.class} @acceleration=#{acceleration}, @acceleration_max=#{acceleration_max}, @acceleration_min=#{acceleration_min}, @sensitivity=#{sensitivity}>"
+	end
+
+	# @return [Integer] returns index of the axis, or raises an error.
+	def index 
+		@index
+	end
+	
+	# @return [Float] returns the acceleration value of the axis, or raises an error.
+    def acceleration
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAcceleration(@handle, @index, ptr)
+	  ptr.get_double(0)
+    end
+  
+	# @return [Float] returns the largest acceleration value that the axis will return, or raises an error.
+    def acceleration_max
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAccelerationMax(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# @return [Float] returns the largest(negative) acceleration value that the axis will return, or raises an error.
+    def acceleration_min
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAccelerationMin(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# Sets the sensitivity of the acceleration data for the axis, or raises an error.
+	# @param [Float] new_sensitivity new sensitivity
+	# @return [Float] returns sensitivity of the acceleration data for the axis, or raises an error.
+    def sensitivity=(new_sensitivity)
+      Klass.setAccelerationChangeTrigger(@handle, @index, new_sensitivity.to_f)
+      new_sensitivity.to_f
+    end
+		
+	# @return [Float] returns sensitivity of the acceleration data for the axis, or raises an error.
+    def sensitivity
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAccelerationChangeTrigger(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+  end
+
+ end
+ end
+  

data/lib/phidgets-ffi/advanced_servo.rb

@@ -0,0 +1,304 @@
+module Phidgets
+
+  # This class represents a PhidgetAdvancedServo.
+  class AdvancedServo
+ 
+    Klass = Phidgets::FFI::CPhidgetAdvancedServo
+    include Phidgets::Common
+    
+	# Collection of servo motors
+	# @return [AdvancedServoServos] 
+    attr_reader :advanced_servos
+	
+	attr_reader :attributes
+		
+	# The attributes of a PhidgetAdvancedServo
+    def attributes
+      super.merge({
+        :advanced_servos => advanced_servos.size,
+      })
+    end
+
+    # Sets a velocity change handler callback function. This is called when the velocity of a servo changes.
+    #
+    # @param [String] obj Object to pass to the callback function. This is optional.
+    # @param [Proc] Block When the callback is executed, the device and object are yielded to this block.
+    # @example
+    #     adv.on_velocity_change do |device, servo, velocity, obj|
+    #       puts "Servo #{servo.index}'s velocity has changed to #{velocity}"
+    #     end
+    # As this runs in it's own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.
+    # @return [Boolean] returns true or raises an error
+    def on_velocity_change(obj=nil, &block)
+	
+      @on_velocity_change_obj = obj
+      @on_velocity_change = Proc.new { |device, obj_ptr, index, velocity|
+	    yield self, @advanced_servos[index], velocity, object_for(obj_ptr)
+	}
+      Klass.set_OnVelocityChange_Handler(@handle, @on_velocity_change, pointer_for(obj))
+    end
+	
+    # Sets a position change handler callback function. This is called when the servo position has changed. 
+    #
+    # @param [String] obj Object to pass to the callback function. This is optional.
+    # @param [Proc] Block When the callback is executed, the device and object are yielded to this block.
+    # @example
+    #     adv.on_position_change do |device, servo, position, obj|
+    #       puts "Servo #{servo.index}'s position has changed to #{position}"
+    #     end
+    # As this runs in it's own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.
+    # @return [Boolean] returns true or raises an error
+    def on_position_change(obj=nil, &block)
+	
+      @on_position_change_obj = obj
+      @on_position_change = Proc.new { |device, obj_ptr, index, position|
+	    yield self, @advanced_servos[index], position, object_for(obj_ptr)
+	}
+      Klass.set_OnPositionChange_Handler(@handle, @on_position_change, pointer_for(obj))
+    end
+	
+    # Sets a current change handler handler callback function. This is called when the current consumed by a motor changes.
+    #
+    # @param [String] obj Object to pass to the callback function. This is optional.
+    # @param [Proc] Block When the callback is executed, the device and object are yielded to this block.
+    # @example
+    #     adv.on_current_change do |device, servo, current, obj|
+    #       puts "Servo #{servo.index}'s current has changed to #{current}"
+    #     end
+    # As this runs in it's own thread, be sure that all errors are properly handled or the thread will halt and not fire any more.
+    # @return [Boolean] returns true or raises an error
+    def on_current_change(obj=nil, &block)
+	
+      @on_current_change_obj = obj
+      @on_current_change = Proc.new { |device, obj_ptr, index, current|
+	    yield self, @advanced_servos[index], current, object_for(obj_ptr)
+	}
+      Klass.set_OnCurrentChange_Handler(@handle, @on_current_change, pointer_for(obj))
+    end
+
+	 
+  # This class represents a servo motor for a PhidgetAdvancedServo. All the properties of an servo motor are stored and modified in this class.
+  class AdvancedServoServos
+    Klass = Phidgets::FFI::CPhidgetAdvancedServo
+
+	private
+    def initialize(handle, index)
+      @handle, @index = handle, index.to_i
+    end
+
+	public
+	# Displays data for the servo motor.
+    def inspect
+      "#<#{self.class} @index=#{index}, @acceleration=#{acceleration}, @acceleration_min=#{acceleration_min}, @acceleration_max=#{acceleration_max}, @current=#{current}, @engaged=#{engaged}, @position=#{position}, @position_max=#{position_max}, @position_min=#{position_min}, @speed_ramping=#{speed_ramping}, @stopped=#{stopped}, @type=#{type}, @velocity=#{velocity}, @velocity_limit=#{velocity_limit}, @velocity_min=#{velocity_min}, @velocity_max=#{velocity_max}>"
+	end
+
+	# @return [Integer] returns the index of the servo motor, or raises an error.
+	def index 
+		@index
+	end
+	
+	# @return [Float] returns the acceleration of a servo, in degrees/second, or raises an error.
+    def acceleration
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAcceleration(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# Sets the acceleration of a servo, in degrees/second, or raises an error.
+	# @param [Integer] new_acceleration new acceleration
+	# @return [Float] returns acceleration of a servo, in degrees/second, or raises an error.    
+	def acceleration=(new_acceleration)
+      Klass.setAcceleration(@handle, @index, new_acceleration.to_f)
+	  new_acceleration
+    end	  
+
+	# @return [Float] returns the largest acceleration value that the servo motor will accept, or raises an error.
+    def acceleration_max
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAccelerationMax(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# @return [Float] returns the smallest acceleration value that the servo motor will accept, or raises an error.
+    def acceleration_min
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getAccelerationMin(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# @return [Float] returns the current consumption of a servo motor, in Amps, or raises an error.
+    def current
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getCurrent(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# @return [Boolean] returns the engaged state of a servo motor, or raises an error.
+    def engaged
+      ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getEngaged(@handle, @index, ptr)
+      (ptr.get_int(0) == 0) ? false : true
+    end
+
+	# Sets the engaged state of a servo motor, or raises an error.
+	# @param [Boolean] new_state new state
+	# @return [Boolean] returns engaged state of a servo motor, or raises an error.
+    def engaged=(new_state)
+      tmp = new_state ? 1 : 0
+      Klass.setEngaged(@handle, @index, tmp)
+      new_state
+    end
+	
+	# @return [Float] returns the position of the servo motor, in degrees, or raises an error.
+    def position
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getPosition(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+	
+	# Sets the position of the servo motor, in degrees, or raises an error.
+	# @param [Float] new_position new position
+	# @return [Float] returns the position of the servo motor, in degrees, or raises an error.
+    def position=(new_position)
+      Klass.setPosition(@handle, @index, new_position.to_f)
+      new_position
+    end
+	
+	# @return [Float] returns the largest position value that the servo motor will accept, or raises an error.
+    def position_max
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getPositionMax(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+	
+	# Sets the largest position value that the servo motor will accept, or raises an error.
+	# @param [Float] new_position_max new maximum position
+	# @return [Float] returns the largest position value that the servo motor will accept, or raises an error.
+    def position_max=(new_position_max)
+      Klass.setPositionMax(@handle, @index, new_position_max.to_f)
+      new_position_max
+    end
+	
+	# @return [Float] returns the smallest position value that the servo motor will accept, or raises an error.
+    def position_min
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getPositionMin(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# Sets the smallest position value that the servo motor will accept, or raises an error.
+	# @param [Float] new_position_min new minimum position
+	# @return [Float] returns the smallest position value that the servo motor will accept, or raises an error.
+    def position_min=(new_position_min)
+      Klass.setPositionMin(@handle, @index, new_position_min.to_f)
+      new_position_min
+    end
+	
+	# @return [Boolean] returns the speed ramping state of the servo motor, or raises an error.
+    def speed_ramping
+      ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getSpeedRampingOn(@handle, @index, ptr)
+      (ptr.get_int(0) == 0) ? false : true
+    end
+	
+	# Sets the speed ramping state that the servo motor will accept, or raises an error.
+	# @param [Boolean] new_state new state
+	# @return [Boolean] returns the speed ramping state that the servo motor will accept, or raises an error.
+	def speed_ramping=(new_state)
+      tmp = new_state ? 1 : 0
+      Klass.setSpeedRampingOn(@handle, @index, tmp)
+      new_state
+    end
+	
+	# @return [Boolean] returns the stopped state of the servo motor, or raises an error.
+    def stopped
+      ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getStopped(@handle, @index, ptr)
+      (ptr.get_int(0) == 0) ? false : true
+    end
+	
+	# @return [Phidgets::FFI::AdvancedServoType] returns the servo type of the servo motor, or raises an error.
+	def type
+      ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getServoType(@handle, @index, ptr)
+      Phidgets::FFI::ServoType[ptr.get_int(0)]
+    end
+
+	# Sets the servo type of the servo motor, or raises an error. This determines how degrees are calculated from PCM pulses, and sets min and max angles. The default type is :default. 
+	# @param [Phidgets::FFI::AdvancedServoType] new_type new type
+	# @return [Phidgets::FFI::AdvancedServoType] returns the servo type of the servo motor, or raises an error.
+    def type=(new_type=:default)
+      ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.setServoType(@handle, @index, Phidgets::FFI::AdvancedServoType[new_type])
+      new_type
+    end
+	
+	# @return [Float] returns the current velocity of the servo motor, or raises an error.
+    def velocity
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getVelocity(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# @return [Float] returns the velocity limit of the servo motor, or raises an error.
+    def velocity_limit
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getVelocityLimit(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+
+	# Sets the velocity limit of the servo motor, or raises an error.
+	# @param [Float] new_velocity_limit new velocity limit
+	# @return [Float] returns the velocity limit of the servo motor, or raises an error.
+    def velocity_limit=(new_velocity_limit)
+      Klass.setVelocityLimit(@handle, @index, new_velocity_limit.to_f)
+      new_velocity_limit
+    end
+
+	# @return [Float] returns the largest velocity value that the servo motor will accept, or raises an error.
+    def velocity_max
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getVelocityMax(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+	
+	# @return [Float] returns the smallest velocity value that the servo motor will accept, or raises an error.
+    def velocity_min
+      ptr = ::FFI::MemoryPointer.new(:double)
+      Klass.getVelocityMin(@handle, @index, ptr)
+      ptr.get_double(0)
+    end
+	
+	# Sets custom servo parameters for using a servo not in the predefined list. Pulse widths are specified in microseconds, velocity in degrees/second.
+	# @return [Boolean] returns the true if the servo parameters has successfully been set, or raises an error.
+	def set_servo_parameters(min_us, max_us, degrees, velocity_max)
+	  Klass.setServoParameters(@handle, @index, min_us, max_us, degrees, velocity_max)
+	  true
+	end
+	
+  end #AdvancedServoServos
+  
+	private
+    
+	def load_device_attributes
+	  load_advanced_servos
+	end
+
+    def load_advanced_servos
+	  ptr = ::FFI::MemoryPointer.new(:int)
+      Klass.getMotorCount(@handle, ptr)
+      @advanced_servos = []
+      ptr.get_int(0).times do |i|
+        @advanced_servos << AdvancedServoServos.new(@handle, i)
+      end
+
+    end
+	
+	def remove_specific_event_handlers
+	   Klass.set_OnPositionChange_Handler(@handle, nil, nil)
+	   Klass.set_OnVelocityChange_Handler(@handle, nil, nil)
+	   Klass.set_OnCurrentChange_Handler(@handle, nil, nil)
+	end
+  end
+	
+end