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1560 lines (1558 loc) · 77.4 KB
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{
"meta": {
"version": "1.2.0",
"specRevision": 0,
"supportedKernel": {
"pattern": "{upstream_version}-{kernel}-{flavour}",
"kernels": [
"11-ev3dev",
"11-rc1-ev3dev"
]
}
},
"classes": {
"motor": {
"friendlyName": "Motor",
"description": [
"The motor class provides a uniform interface for using motors with",
"positional and directional feedback such as the EV3 and NXT motors.",
"This feedback allows for precise control of the motors. This is the",
"most common type of motor, so we just call it `motor`.",
"",
"The way to configure a motor is to set the '_sp' attributes when",
"calling a command or before. Only in 'run_direct' mode attribute",
"changes are processed immediately, in the other modes they only",
"take place when a new command is issued."
],
"docsLink": "http://www.ev3dev.org/docs/drivers/tacho-motor-class/",
"systemClassName": "tacho-motor",
"systemDeviceNameConvention": "*",
"systemProperties": [
{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the port that this motor is connected to."
]
},
{ "name": "Command", "systemName": "command", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"Sends a command to the motor controller. See `commands` for a list of",
"possible values."
]
},
{ "name": "Commands", "systemName": "commands", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of commands that are supported by the motor",
"controller. Possible values are `run-forever`, `run-to-abs-pos`, `run-to-rel-pos`,",
"`run-timed`, `run-direct`, `stop` and `reset`. Not all commands may be supported.",
"",
"- `run-forever` will cause the motor to run until another command is sent.",
"- `run-to-abs-pos` will run to an absolute position specified by `position_sp`",
" and then stop using the action specified in `stop_action`.",
"- `run-to-rel-pos` will run to a position relative to the current `position` value.",
" The new position will be current `position` + `position_sp`. When the new",
" position is reached, the motor will stop using the action specified by `stop_action`.",
"- `run-timed` will run the motor for the amount of time specified in `time_sp`",
" and then stop the motor using the action specified by `stop_action`.",
"- `run-direct` will run the motor at the duty cycle specified by `duty_cycle_sp`.",
" Unlike other run commands, changing `duty_cycle_sp` while running *will*",
" take effect immediately.",
"- `stop` will stop any of the run commands before they are complete using the",
" action specified by `stop_action`.",
"- `reset` will reset all of the motor parameter attributes to their default value.",
" This will also have the effect of stopping the motor."
]
},
{ "name": "Count Per Rot", "systemName": "count_per_rot", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the number of tacho counts in one rotation of the motor. Tacho counts",
"are used by the position and speed attributes, so you can use this value",
"to convert rotations or degrees to tacho counts. (rotation motors only)"
]
},
{ "name": "Count Per M", "systemName": "count_per_m", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the number of tacho counts in one meter of travel of the motor. Tacho",
"counts are used by the position and speed attributes, so you can use this",
"value to convert from distance to tacho counts. (linear motors only)"
]
},
{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the driver that provides this tacho motor device."
]
},
{ "name": "Duty Cycle", "systemName": "duty_cycle", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the current duty cycle of the motor. Units are percent. Values",
"are -100 to 100."
]
},
{ "name": "Duty Cycle SP", "systemName": "duty_cycle_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing sets the duty cycle setpoint. Reading returns the current value.",
"Units are in percent. Valid values are -100 to 100. A negative value causes",
"the motor to rotate in reverse."
]
},
{ "name": "Full Travel Count", "systemName": "full_travel_count", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the number of tacho counts in the full travel of the motor. When",
"combined with the `count_per_m` atribute, you can use this value to",
"calculate the maximum travel distance of the motor. (linear motors only)"
]
},
{ "name": "Polarity", "systemName": "polarity", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Sets the polarity of the motor. With `normal` polarity, a positive duty",
"cycle will cause the motor to rotate clockwise. With `inversed` polarity,",
"a positive duty cycle will cause the motor to rotate counter-clockwise.",
"Valid values are `normal` and `inversed`."
]
},
{ "name": "Position", "systemName": "position", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Returns the current position of the motor in pulses of the rotary",
"encoder. When the motor rotates clockwise, the position will increase.",
"Likewise, rotating counter-clockwise causes the position to decrease.",
"Writing will set the position to that value."
]
},
{ "name": "Position P", "systemName": "hold_pid/Kp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The proportional constant for the position PID."
]
},
{ "name": "Position I", "systemName": "hold_pid/Ki", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The integral constant for the position PID."
]
},
{ "name": "Position D", "systemName": "hold_pid/Kd", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The derivative constant for the position PID."
]
},
{ "name": "Position SP", "systemName": "position_sp", "type": "int", "readAccess": true, "wr
4941
iteAccess": true,
"description": [
"Writing specifies the target position for the `run-to-abs-pos` and `run-to-rel-pos`",
"commands. Reading returns the current value. Units are in tacho counts. You",
"can use the value returned by `counts_per_rot` to convert tacho counts to/from",
"rotations or degrees."
]
},
{ "name": "Max Speed", "systemName": "max_speed", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the maximum value that is accepted by the `speed_sp` attribute. This",
"may be slightly different than the maximum speed that a particular motor can",
"reach - it's the maximum theoretical speed."
]
},
{ "name": "Speed", "systemName": "speed", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the current motor speed in tacho counts per second. Note, this is",
"not necessarily degrees (although it is for LEGO motors). Use the `count_per_rot`",
"attribute to convert this value to RPM or deg/sec."
]
},
{ "name": "Speed SP", "systemName": "speed_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing sets the target speed in tacho counts per second used for all `run-*`",
"commands except `run-direct`. Reading returns the current value. A negative",
"value causes the motor to rotate in reverse with the exception of `run-to-*-pos`",
"commands where the sign is ignored. Use the `count_per_rot` attribute to convert",
"RPM or deg/sec to tacho counts per second. Use the `count_per_m` attribute to",
"convert m/s to tacho counts per second."
]
},
{ "name": "Ramp Up SP", "systemName": "ramp_up_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing sets the ramp up setpoint. Reading returns the current value. Units",
"are in milliseconds and must be positive. When set to a non-zero value, the",
"motor speed will increase from 0 to 100% of `max_speed` over the span of this",
"setpoint. The actual ramp time is the ratio of the difference between the",
"`speed_sp` and the current `speed` and max_speed multiplied by `ramp_up_sp`."
]
},
{ "name": "Ramp Down SP", "systemName": "ramp_down_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing sets the ramp down setpoint. Reading returns the current value. Units",
"are in milliseconds and must be positive. When set to a non-zero value, the",
"motor speed will decrease from 0 to 100% of `max_speed` over the span of this",
"setpoint. The actual ramp time is the ratio of the difference between the",
"`speed_sp` and the current `speed` and max_speed multiplied by `ramp_down_sp`."
]
},
{ "name": "Speed P", "systemName": "speed_pid/Kp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The proportional constant for the speed regulation PID."
]
},
{ "name": "Speed I", "systemName": "speed_pid/Ki", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The integral constant for the speed regulation PID."
]
},
{ "name": "Speed D", "systemName": "speed_pid/Kd", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The derivative constant for the speed regulation PID."
]
},
{ "name": "State", "systemName": "state", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Reading returns a list of state flags. Possible flags are",
"`running`, `ramping`, `holding`, `overloaded` and `stalled`."
]
},
{ "name": "Stop Action", "systemName": "stop_action", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Reading returns the current stop action. Writing sets the stop action.",
"The value determines the motors behavior when `command` is set to `stop`.",
"Also, it determines the motors behavior when a run command completes. See",
"`stop_actions` for a list of possible values."
]
},
{ "name": "Stop Actions", "systemName": "stop_actions", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of stop actions supported by the motor controller.",
"Possible values are `coast`, `brake` and `hold`. `coast` means that power will",
"be removed from the motor and it will freely coast to a stop. `brake` means",
"that power will be removed from the motor and a passive electrical load will",
"be placed on the motor. This is usually done by shorting the motor terminals",
"together. This load will absorb the energy from the rotation of the motors and",
"cause the motor to stop more quickly than coasting. `hold` does not remove",
"power from the motor. Instead it actively tries to hold the motor at the current",
"position. If an external force tries to turn the motor, the motor will 'push",
"back' to maintain its position."
]
},
{ "name": "Time SP", "systemName": "time_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing specifies the amount of time the motor will run when using the",
"`run-timed` command. Reading returns the current value. Units are in",
"milliseconds."
]
}
],
"propertyValues": [
{
"propertyName": "Command",
"values": [
{ "name": "run-forever",
"description": [
"Run the motor until another command is sent."
]
},
{ "name": "run-to-abs-pos",
"description": [
"Run to an absolute position specified by `position_sp` and then",
"stop using the action specified in `stop_action`."
]
},
{ "name": "run-to-rel-pos",
"description": [
"Run to a position relative to the current `position` value.",
"The new position will be current `position` + `position_sp`.",
"When the new position is reached, the motor will stop using",
"the action specified by `stop_action`."
]
},
{ "name": "run-timed",
"description": [
"Run the motor for the amount of time specified in `time_sp`",
"and then stop the motor using the action specified by `stop_action`."
]
},
{ "name": "run-direct",
"description": [
"Run the motor at the duty cycle specified by `duty_cycle_sp`.",
"Unlike other run commands, changing `duty_cycle_sp` while running *will*",
"take effect immediately."
]
},
{ "name": "stop",
"description": [
"Stop any of the run commands before they are complete using the",
"action specified by `stop_action`."
]
},
{ "name": "reset",
"description": [
"Reset all of the motor parameter attributes to their default value.",
"This will also have the effect of stopping the motor."
]
}
]
},
{
"propertyName": "Encoder Polarity",
"values": [
{ "name": "normal",
"description": [
"Sets the normal polarity of the rotary encoder."
]
},
{ "name": "inversed",
"description": [
"Sets the inversed polarity of the rotary encoder."
]
}
]
},
{
"propertyName": "Polarity",
"values": [
{ "name": "normal",
"description": [
"With `normal` polarity, a positive duty cycle will",
"cause the motor to rotate clockwise."
]
},
{ "name": "inversed",
"description": [
"With `inversed` polarity, a positive duty cycle will",
"cause the motor to rotate counter-clockwise."
]
}
]
},
{
"propertyName": "State",
"values": [
{ "name": "running",
"description": [
"Power is being sent to the motor."
]
},
{ "name": "ramping",
"description": [
"The motor is ramping up or down and has not yet reached a constant output level."
]
},
{ "name": "holding",
"description": [
"The motor is not turning, but rather attempting to hold a fixed position."
]
},
{ "name": "overloaded",
"description": [
"The motor is turning, but cannot reach its `speed_sp`."
]
},
{ "name": "stalled",
"description": [
"The motor is not turning when it should be."
]
}
]
},
{
"propertyName": "Stop Action",
"values": [
{ "name": "coast",
"description": [
"Power will be removed from the motor and it will freely coast to a stop."
]
},
{ "name": "brake",
"description": [
"Power will be removed from the motor and a passive electrical load will",
"be placed on the motor. This is usually done by shorting the motor terminals",
"together. This load will absorb the energy from the rotation of the motors and",
"cause the motor to stop more quickly than coasting."
]
},
{ "name": "hold",
"description": [
"Does not remove power from the motor. Instead it actively try to hold the motor",
"at the current position. If an external force tries to turn the motor, the motor",
"will `push back` to maintain its position."
]
}
]
}
]
},
"largeMotor": {
"friendlyName": "Large Motor",
"systemDeviceNameConvention": "*",
"description": [
"EV3/NXT large servo motor"
],
"driverName": [
"lego-ev3-l-motor",
"lego-nxt-motor"
],
"inheritance": "motor"
},
"mediumMotor": {
"friendlyName": "Medium Motor",
"systemDeviceNameConvention": "*",
"description": [
"EV3 medium servo motor"
],
"driverName": [
"lego-ev3-m-motor"
],
"inheritance": "motor"
},
"actuonix50Motor": {
"friendlyName": "Actuonix L12 50 Motor",
"systemDeviceNameConvention": "linear{0}",
"description": [
"Actuonix L12 50 linear servo motor"
],
"driverName": [
"act-l12-ev3-50"
],
"inheritance": "motor"
},
"actuonix100Motor": {
"friendlyName": "Actuonix L12 100 Motor",
"systemDeviceNameConvention": "linear{0}",
"description": [
"Actuonix L12 100 linear servo motor"
],
"driverName": [
"act-l12-ev3-100"
],
"inheritance": "motor"
},
"dcMotor": {
"friendlyName": "DC Motor",
"description": [
"The DC motor class provides a uniform interface for using regular DC motors",
"with no fancy controls or feedback. This includes LEGO MINDSTORMS RCX motors",
"and LEGO Power Functions motors."
],
"docsLink": "http://www.ev3dev.org/docs/drivers/dc-motor-class/",
"systemClassName": "dc-motor",
"systemDeviceNameConvention": "motor{0}",
"systemProperties": [
{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the port that this motor is connected to."
]
},
{ "name": "Command", "systemName": "command", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"Sets the command for the motor. Possible values are `run-forever`, `run-timed` and",
"`stop`. Not all commands may be supported, so be sure to check the contents&q
C27F
uot;,
"of the `commands` attribute."
]
},
{ "name": "Commands", "systemName": "commands", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of commands supported by the motor",
"controller."
]
},
{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the motor driver that loaded this device. See the list",
"of [supported devices] for a list of drivers."
]
},
{ "name": "Duty Cycle", "systemName": "duty_cycle", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Shows the current duty cycle of the PWM signal sent to the motor. Values",
"are -100 to 100 (-100% to 100%)."
]
},
{ "name": "Duty Cycle SP", "systemName": "duty_cycle_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing sets the duty cycle setpoint of the PWM signal sent to the motor.",
"Valid values are -100 to 100 (-100% to 100%). Reading returns the current",
"setpoint."
]
},
{ "name": "Polarity", "systemName": "polarity", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Sets the polarity of the motor. Valid values are `normal` and `inversed`."
]
},
{ "name": "Ramp Down SP", "systemName": "ramp_down_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Sets the time in milliseconds that it take the motor to ramp down from 100%",
"to 0%. Valid values are 0 to 10000 (10 seconds). Default is 0."
]
},
{ "name": "Ramp Up SP", "systemName": "ramp_up_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Sets the time in milliseconds that it take the motor to up ramp from 0% to",
"100%. Valid values are 0 to 10000 (10 seconds). Default is 0."
]
},
{ "name": "State", "systemName": "state", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Gets a list of flags indicating the motor status. Possible",
"flags are `running` and `ramping`. `running` indicates that the motor is",
"powered. `ramping` indicates that the motor has not yet reached the",
"`duty_cycle_sp`."
]
},
{ "name": "Stop Action", "systemName": "stop_action", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"Sets the stop action that will be used when the motor stops. Read",
"`stop_actions` to get the list of valid values."
]
},
{ "name": "Stop Actions", "systemName": "stop_actions", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Gets a list of stop actions. Valid values are `coast`",
"and `brake`."
]
},
{ "name": "Time SP", "systemName": "time_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Writing specifies the amount of time the motor will run when using the",
"`run-timed` command. Reading returns the current value. Units are in",
"milliseconds."
]
}
],
"propertyValues": [
{
"propertyName": "Command",
"values": [
{ "name": "run-forever",
"description": [
"Run the motor until another command is sent."
]
},
{ "name": "run-timed",
"description": [
"Run the motor for the amount of time specified in `time_sp`",
"and then stop the motor using the action specified by `stop_action`."
]
},
{ "name": "run-direct",
"description": [
"Run the motor at the duty cycle specified by `duty_cycle_sp`.",
"Unlike other run commands, changing `duty_cycle_sp` while running *will*",
"take effect immediately."
]
},
{ "name": "stop",
"description": [
"Stop any of the run commands before they are complete using the",
"action specified by `stop_action`."
]
}
]
},
{
"propertyName": "Polarity",
"values": [
{ "name": "normal",
"description": [
"With `normal` polarity, a positive duty cycle will",
"cause the motor to rotate clockwise."
]
},
{ "name": "inversed",
"description": [
"With `inversed` polarity, a positive duty cycle will",
"cause the motor to rotate counter-clockwise."
]
}
]
},
{
"propertyName": "Stop Action",
"values": [
{ "name": "coast",
"description": [
"Power will be removed from the motor and it will freely coast to a stop."
]
},
{ "name": "brake",
"description": [
"Power will be removed from the motor and a passive electrical load will",
"be placed on the motor. This is usually done by shorting the motor terminals",
"together. This load will absorb the energy from the rotation of the motors and",
"cause the motor to stop more quickly than coasting."
]
}
]
}
]
},
"servoMotor": {
"friendlyName": "Servo Motor",
"description": [
"The servo motor class provides a uniform interface for using hobby type",
"servo motors."
],
"docsLink": "http://www.ev3dev.org/docs/drivers/servo-motor-class/",
"systemClassName": "servo-motor",
"systemDeviceNameConvention": "motor{0}",
"systemProperties": [
{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the port that this motor is connected to."
]
},
{ "name": "Command", "systemName": "command", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"Sets the command for the servo. Valid values are `run` and `float`. Setting",
"to `run` will cause the servo to be driven to the position_sp set in the",
"`position_sp` attribute. Setting to `float` will remove power from the motor."
]
},
{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the motor driver that loaded this device. See the list",
"of [supported devices] for a list of drivers."
]
},
{ "name": "Max Pulse SP", "systemName": "max_pulse_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Used to set the pulse size in milliseconds for the signal that tells the",
"servo to drive to the maximum (clockwise) position_sp. Default value is 2400.",
"Valid values are 2300 to 2700. You must write to the position_sp attribute for",
"changes to this attribute to take effect."
]
},
{ "name": "Mid Pulse SP", "systemName": "mid_pulse_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Used to set the pulse size in milliseconds for the signal that tells the",
"servo to drive to the mid position_sp. Default value is 1500. Valid",
"values are 1300 to 1700. For example, on a 180 degree servo, this would be",
"90 degrees. On continuous rotation servo, this is the 'neutral' position_sp",
"where the motor does not turn. You must write to the position_sp attribute for",
"changes to this attribute to take effect."
]
},
{ "name": "Min Pulse SP", "systemName": "min_pulse_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Used to set the pulse size in milliseconds for the signal that tells the",
"servo to drive to the miniumum (counter-clockwise) position_sp. Default value",
"is 600. Valid values are 300 to 700. You must write to the position_sp",
"attribute for changes to this attribute to take effect."
]
},
{ "name": "Polarity", "systemName": "polarity", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Sets the polarity of the servo. Valid values are `normal` and `inversed`.",
"Setting the value to `inversed` will cause the position_sp value to be",
"inversed. i.e `-100` will correspond to `max_pulse_sp`, and `100` will",
"correspond to `min_pulse_sp`."
]
},
{ "name": "Position SP", "systemName": "position_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Reading returns the current position_sp of the servo. Writing instructs the",
"servo to move to the specified position_sp. Units are percent. Valid values",
"are -100 to 100 (-100% to 100%) where `-100` corresponds to `min_pulse_sp`,",
"`0` corresponds to `mid_pulse_sp` and `100` corresponds to `max_pulse_sp`."
]
},
{ "name": "Rate SP", "systemName": "rate_sp", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Sets the rate_sp at which the servo travels from 0 to 100.0% (half of the full",
"range of the servo). Units are in milliseconds. Example: Setting the rate_sp",
"to 1000 means that it will take a 180 degree servo 2 second to move from 0",
"to 180 degrees. Note: Some servo controllers may not support this in which",
"case reading and writing will fail with `-EOPNOTSUPP`. In continuous rotation",
"servos, this value will affect the rate_sp at which the speed ramps up or down."
]
},
{ "name": "State", "systemName": "state", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of flags indicating the state of the servo.",
"Possible values are:",
"* `running`: Indicates that the motor is powered."
]
}
],
"propertyValues": [
{
"propertyName": "Command",
"values": [
{ "name": "run",
"description": [
"Drive servo to the position set in the `position_sp` attribute."
]
},
{ "name": "float",
"description": [
"Remove power from the motor."
]
}
]
},
{
"propertyName": "Polarity",
"values": [
{ "name": "normal",
"description": [
"With `normal` polarity, a positive duty cycle will",
"cause the motor to rotate clockwise."
]
},
{ "name": "inversed",
"description": [
"With `inversed` polarity, a positive duty cycle will",
"cause the motor to rotate counter-clockwise."
]
}
]
}
]
},
"led": {
"friendlyName": "LED",
"description": [
"Any device controlled by the generic LED driver.",
"See https://www.kernel.org/doc/Documentation/leds/leds-class.txt",
"for more details."
],
"systemClassName": "leds",
"systemProperties": [
{ "name": "Max Brightness", "systemName": "max_brightness", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the maximum allowable brightness value."
]
},
{ "name": "Brightness", "systemName": "brightness", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Sets the brightness level. Possible values are from 0 to `max_brightness`."
]
},
{ "name": "Triggers", "systemName": "trigger", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of available triggers."
]
},
{ "name": "Trigger", "systemName": "trigger", "type": "string selector", "readAccess": true, "writeAccess": true,
"description": [
"Sets the led trigger. A trigger",
"is a kernel based source of led events. Triggers can either be simple or",
"complex. A simple trigger isn't configurable and is designed to slot into",
"existing subsystems with minimal additional code. Examples are the `ide-disk` and",
"`nand-disk` triggers.",
"",
"Complex triggers whilst available to all LEDs have LED specific",
"parameters and work on a per LED basis. The `timer` trigger is an example.",
"The `timer` trigger will periodically change the LED brightness between",
"0 and the current brightness setting. The `on` and `off` time can",
"be specified via `delay_{on,off}` attributes in milliseconds.",
"You can change the brightness value of a LED independently of the timer",
"trigger. However, if you set the brightness value to 0 it will",
"also disable the `timer` trigger."
]
},
{ "name": "Delay On", "systemName": "delay_on", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The `timer` trigger will periodically change the LED brightness between",
"0 and the current brightness setting. The `on` time can",
"be specified via `delay_on` attribute in milliseconds."
]
},
{ "name": "Delay Off", "systemName": "delay_off", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"The `timer` trigger will periodically change the LED brightness between",
"0 and the current brightness setting. The `off` time can",
"be specified via `delay_off` attribute in milliseconds."
]
}
]
},
"button": {
"friendlyName": "Button",
"description": [
"Provides a generic button reading mechanism that can be adapted",
"to platform specific implementations. Each platform's specific",
"button capabilites are enumerated in the 'platforms' section",
"of this specification."
]
},
"sensor": {
"friendlyName": "Sensor",
"description": [
"The sensor class provides a uniform interface for using most of the",
"sensors available for the EV3. The various underlying device drivers will",
"create a `lego-sensor` device for interacting with the sensors.",
"",
"Sensors are primarily controlled by setting the `mode` and monitored by",
"reading the `value<N>` attributes. Values can be converted to floating point",
"if needed by `value<N>` / 10.0 ^ `decimals`.",
"",
"Since the name of the `sensor<N>` device node does not correspond to the port",
"that a sensor is plugged in to, you must look at the `address` attribute if",
"you need to know which port a sensor is plugged in to. However, if you don't",
"have more than one sensor of each type, you can just look for a matching",
"`driver_name`. Then it will not matter which port a sensor is plugged in to - your",
"program will still work."
],
"docsLink": "http://www.ev3dev.org/docs/drivers/lego-sensor-class/",
"systemClassName": "lego-sensor",
"systemDeviceNameConvention": "sensor{0}",
"systemProperties": [
{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the port that the sensor is connected to, e.g. `ev3:in1`.",
"I2C sensors also include the I2C address (decimal), e.g. `ev3:in1:i2c8`."
]
},
{ "name": "Command", "systemName": "command", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"Sends a command to the sensor."
]
},
{ "name": "Commands", "systemName": "commands", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of the valid commands for the sensor.",
"Returns -EOPNOTSUPP if no commands are supported."
]
},
{ "name": "Decimals", "systemName": "decimals", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the number of decimal places for the values in the `value<N>`",
"attributes of the current mode."
]
},
{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the sensor device/driver. See the list of [supported",
"sensors] for a complete list of drivers."
]
},
{ "name": "Mode", "systemName": "mode", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Returns the current mode. Writing one of the values returned by `modes`",
"sets the sensor to that mode."
]
},
{ "name": "Modes", "systemName": "modes", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of the valid modes for the sensor."
]
},
{ "name": "Num Values", "systemName": "num_values", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"Returns the number of `value<N>` attributes that will return a valid value",
"for the current mode."
]
},
{ "name": "Units", "systemName": "units", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the units of the measured value for the current mode. May return",
"empty string"
]
}
]
},
"i2cSensor": {
"friendlyName": "I2C Sensor",
"description": [
"A generic interface to control I2C-type EV3 sensors."
],
"systemClassName": "lego-sensor",
"systemDeviceNameConvention": "sensor{0}",
"driverName": [
"nxt-i2c-sensor"
],
"inheritance": "sensor",
"systemProperties": [
{ "name": "FW Version", "systemName": "fw_version", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the firmware version of the sensor if available. Currently only",
"I2C/NXT sensors support this."
]
},
{ "name": "Poll MS", "systemName": "poll_ms", "type": "int", "readAccess": true, "writeAccess": true,
"description": [
"Returns the polling period of the sensor in milliseconds. Writing sets the",
"polling period. Setting to 0 disables polling. Minimum value is hard",
"coded as 50 msec. Returns -EOPNOTSUPP if changing polling is not supported.",
"Currently only I2C/NXT sensors support changing the polling period."
]
}
]
},
"powerSupply": {
"friendlyName": "Power Supply",
"description": [
"A generic interface to read data from the system's power_supply class.",
"Uses the built-in legoev3-battery if none is specified."
],
"systemClassName": "power_supply",
"systemProperties": [
{ "name": "Measured Current", "systemName": "current_now", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"The measured current that the battery is supplying (in microamps)"
]
},
{ "name": "Measured Voltage", "systemName": "voltage_now", "type": "int", "readAccess": true, "writeAccess": false,
"description": [
"The measured voltage that the battery is supplying (in microvolts)"
]
},
{ "name": "Max Voltage", "systemName": "voltage_max_design", "type": "int", "readAccess": true, "writeAccess": false },
{ "name": "Min Voltage", "systemName": "voltage_min_design", "type": "int", "readAccess": true, "writeAccess": false },
{ "name": "Technology", "systemName": "technology", "type": "string", "readAccess": true, "writeAccess": false },
{ "name": "Type", "systemName": "type", "type": "string", "readAccess": true, "writeAccess": false }
]
},
"legoPort": {
"friendlyName": "Lego Port",
"description": [
"The `lego-port` class provides an interface for working with input and",
"output ports that are compatible with LEGO MINDSTORMS RCX/NXT/EV3, LEGO",
"WeDo and LEGO Power Functions sensors and motors. Supported devices include",
"the LEGO MINDSTORMS EV3 Intelligent Brick, the LEGO WeDo USB hub and",
"various sensor multiplexers from 3rd party manufacturers.",
"",
"Some types of ports may have multiple modes of operation. For example, the",
"input ports on the EV3 brick can communicate with sensors using UART, I2C",
"or analog validate signals - but not all at the same time. Therefore there",
"are multiple modes available to connect to the different types of sensors.",
"",
"In most cases, ports are able to automatically detect what type of sensor",
"or motor is connected. In some cases though, this must be manually specified",
"using the `mode` and `set_device` attributes. The `mode` attribute affects",
"how the port communicates with the connected device. For example the input",
"ports on the EV3 brick can communicate using UART, I2C or analog voltages,",
"but not all at the same time, so the mode must be set to the one that is",
"appropriate for the connected sensor. The `set_device` attribute is used to",
"specify the exact type of sensor that is connected. Note: the mode must be",
"correctly set before setting the sensor type.",
"",
"Ports can be found at `/sys/class/lego-port/port<N>` where `<N>` is",
"incremented each time a new port is registered. Note: The number is not",
"related to the actual port at all - use the `address` attribute to find",
"a specific port."
],
"systemClassName": "lego-port",
"systemProperties": [
{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the port. See individual driver documentation for",
"the name that will be returned."
]
},
{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"Returns the name of the driver that loaded this device. You can find the",
"complete list of drivers in the [list of port drivers]."
]
},
{ "name": "Modes", "systemName": "modes", "type": "string array", "readAccess": true, "writeAccess": false,
"description": [
"Returns a list of the available modes of the port."
]
},
{ "name": "Mode", "systemName": "mode", "type": "string", "readAccess": true, "writeAccess": true,
"description": [
"Reading returns the currently selected mode. Writing sets the mode.",
"Generally speaking when the mode changes any sensor or motor devices",
"associated with the port will be removed new ones loaded, however this",
"this will depend on the individual driver implementing this class."
]
},
{ "name": "Set Device", "systemName": "set_device", "type": "string", "readAccess": false, "writeAccess": true,
"description": [
"For modes that support it, writing the name of a driver will cause a new",
"device to be registered for that driver and attached to this port. For",
"example, since NXT/Analog sensors cannot be auto-detected, you must use",
"this attribute to load the correct driver. Returns -EOPNOTSUPP if setting a",
"device is not supported."
]
},
{ "name": "Status", "systemName": "status", "type": "string", "readAccess": true, "writeAccess": false,
"description": [
"In most cases, reading status will return the same value as `mode`. In",
"cases where there is an `auto` mode additional values may be returned,",
"such as `no-device` or `error`. See individual port driver documentation",
"for the full list of possible values."
]
}
]
}
},
"specialSensorTypes": {
"touchSensor": {
"friendlyName": "Touch Sensor",
"description": [
"Touch Sensor"
],
"driverName": [
"lego-ev3-touch",
"lego-nxt-touch"
],
"inheritance": "sensor",
"propertyValues": [
{
"propertyName": "Mode",
"values": [
{
"name": "TOUCH",
"description": [
"Button state"
]
}
]
}
],
"sensorValueMappings": [
{
"name": "Is Pressed",