io.github.robolib.module.actuator

Class Servo

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.PWM

io.github.robolib.module.actuator.Servo

All Implemented Interfaces:

AngleSink, AngleSource, LiveWindowSendable, NumberSink, Sendable, UpdatingSendable, ActuatorModule, Module

public class Servo
extends PWM
implements ActuatorModule, AngleSink, AngleSource

Author:

noriah

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.PWM

PWM.PeriodMultiplier, PWM.PWMChannel

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private static double	SERVO_ANGLE_RANGE
private static double	SERVO_MAX_ANGLE
private static double	SERVO_MIN_ANGLE
protected static double	SERVO_PWM_DEFAULT_MAX
protected static double	SERVO_PWM_DEFAULT_MIN

Fields inherited from class io.github.robolib.module.iface.PWM

m_description, m_disabled, m_table, m_table_listener, PWM_DEFAULT_CENTER, PWM_DEFAULT_PERIOD, PWM_DEFAULT_STEPS_DOWN, PWM_DISABLED_WIDTH, SYSTEM_CLOCK_TICKS_PER_MICROSEC

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Constructor and Description
Servo(PWM.PWMChannel channel)

Method Summary

Modifier and Type	Method and Description
void	enableModule() Enable the module
double	get() Get the servo position.
double	getAngle() Get the servo angle.
void	makeSafe() Make this actuator safe.
void	set(double value) Set the servo position.
void	setAngle(double degrees) Set the servo angle.

Methods inherited from class io.github.robolib.module.iface.PWM

disableModule, eliminateDeadband, free, getCenterPWM, getChannel, getChannelName, getChannelNumber, getModuleEnabled, getPosition, getRaw, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setPeriodMultiplier, setPosition, setRaw, setSpeed, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTable

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.robolib.module.Module

disableModule, getModuleEnabled

Methods inherited from interface io.github.robolib.identifier.AngleSink

bindAngle, bindAngle

Methods inherited from interface io.github.robolib.identifier.NumberSink

bindValue, bindValue

Field Detail

SERVO_MAX_ANGLE

private static final double SERVO_MAX_ANGLE

See Also:

Constant Field Values

SERVO_MIN_ANGLE

private static final double SERVO_MIN_ANGLE

See Also:

Constant Field Values

SERVO_ANGLE_RANGE

private static final double SERVO_ANGLE_RANGE

See Also:

Constant Field Values

SERVO_PWM_DEFAULT_MAX

protected static final double SERVO_PWM_DEFAULT_MAX

See Also:

Constant Field Values

SERVO_PWM_DEFAULT_MIN

protected static final double SERVO_PWM_DEFAULT_MIN

See Also:

Constant Field Values

Constructor Detail

Servo

public Servo(PWM.PWMChannel channel)

Parameters:

channel -

Method Detail

set

public final void set(double value)

Set the servo position. Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

Specified by:

set in interface NumberSink

Overrides:

set in class PWM

Parameters:

value - Position from 0.0 to 1.0.

get

public final double get()

Get the servo position. Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

Overrides:

get in class PWM

Returns:

Position from 0.0 to 1.0.

setAngle

public final void setAngle(double degrees)

Set the servo angle. Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test). Servo angles that are out of the supported range of the servo simply "saturate" in that direction In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.

Specified by:

setAngle in interface AngleSink

Parameters:

degrees - The angle in degrees to set the servo.

getAngle

public final double getAngle()

Get the servo angle. Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).

Specified by:

getAngle in interface AngleSource

Returns:

The angle in degrees to which the servo is set.

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

Overrides:

enableModule in class PWM

makeSafe

public void makeSafe()

Make this actuator safe. This should disable the module and keep it disabled. There should be no way to recover from a "safe" state. This is here to allow for exceptions in function, to keep the code resetting (switching game mode) from affecting the state, in case an external sensor detects that the module will cause damage to itself or others (or even people) To recover from this state, the code should need to be restarted.

Specified by:

makeSafe in interface ActuatorModule