edu.wpi.first.wpilibj

Class Servo

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.Servo

All Implemented Interfaces:

LiveWindowSendable, Sendable

public class Servo
extends PWM

Standard hobby style servo. The range parameters default to the appropriate values for the Hitec HS-322HD servo provided in the FIRST Kit of Parts in 2008.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	kDefaultMaxServoPWM
protected static double	kDefaultMinServoPWM

Fields inherited from class edu.wpi.first.wpilibj.PWM

kDefaultPwmCenter, kDefaultPwmPeriod, kDefaultPwmStepsDown, kPwmDisabled

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPDPChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
Servo(int channel) Constructor. By default 2.4 ms is used as the maxPWM value By default 0.6 ms is used as the minPWM value

Method Summary

Modifier and Type	Method and Description
double	get() Get the servo position.
double	getAngle() Get the servo angle.
String	getSmartDashboardType()
void	initTable(edu.wpi.first.wpilibj.tables.ITable subtable) Initializes a table for this sendable object.
void	set(double value) Set the servo position.
void	setAngle(double degrees) Set the servo angle.
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.PWM

enableDeadbandElimination, free, getChannel, getPosition, getRaw, getSpeed, getTable, setBounds, setBounds, setPeriodMultiplier, setPosition, setRaw, setZeroLatch

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Field Detail

kDefaultMaxServoPWM

protected static final double kDefaultMaxServoPWM

See Also:

Constant Field Values

kDefaultMinServoPWM

protected static final double kDefaultMinServoPWM

See Also:

Constant Field Values

Constructor Detail

Servo

public Servo(int channel)

Constructor.
By default 2.4 ms is used as the maxPWM value
By default 0.6 ms is used as the minPWM value

Parameters:

channel - The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port

Method Detail

set

public 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.

Parameters:

value - Position from 0.0 to 1.0.

get

public 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.

Returns:

Position from 0.0 to 1.0.

setAngle

public 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.

Parameters:

degrees - The angle in degrees to set the servo.

getAngle

public double getAngle()

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

Returns:

The angle in degrees to which the servo is set.

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Overrides:

getSmartDashboardType in class PWM

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(edu.wpi.first.wpilibj.tables.ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Overrides:

initTable in class PWM

Parameters:

subtable - The table to put the values in.

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

Overrides:

updateTable in class PWM

startLiveWindowMode

public void startLiveWindowMode()

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

Overrides:

startLiveWindowMode in class PWM

stopLiveWindowMode

public void stopLiveWindowMode()

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable

Overrides:

stopLiveWindowMode in class PWM