io.github.thunderbots.lightning.hardware

Class CRServo

java.lang.Object

io.github.thunderbots.lightning.hardware.Motor

io.github.thunderbots.lightning.hardware.CRServo

public class CRServo
extends Motor

A CRServo represents any physical continuous-rotation servo that is connected to the robot. Normal servos are limited in their rotation, but a continuous-rotation servo can rotate infinitely. Because of this, a CR servo is functionally more similar to a motor than it is to a servo. This is reflected by CRServo being a subclass of Motor instead of a subclass of Servo.

Because of this inheritance, a physical CR servo can be referenced in software as a motor OR as a servo. To use it as a servo, access it through Lightning.getServo(String). To use a CR servo as a motor instead, call the Lightning.getMotor(String) method.

Author:

Zach Ohara

Nested Class Summary

Nested classes/interfaces inherited from class io.github.thunderbots.lightning.hardware.Motor

Motor.Encoder

Field Summary

Fields

Modifier and Type	Field and Description
private Servo	baseServo The servo that this object is based on.
static double	FORWARD The maximum power of the servo.
private boolean	isReversed Determines if the directionality of this cr servo is reversed or not.
static double	REST The power of the servo when the motor is at rest.
static double	REVERSE The maximum power of the servo when the motor is spinning backwards.

Fields inherited from class io.github.thunderbots.lightning.hardware.Motor

MAX_POWER, MIN_POWER, REST_POWER

Constructor Summary

Constructors

Constructor and Description
CRServo(Servo baseServo) Constructs a new CRServo with the given Servo as a base.

Method Summary

Modifier and Type	Method and Description
Motor.Encoder	getEncoder() Deprecated. A CR servo has no way to track its position. Calling this method on a CRServo will return null.
java.lang.String	getName() Gets the name of the device as it is defined in the configuration file.
double	getPower() Gets the current movement power of this motor.
int	getRawPosition() Deprecated. A CR servo has no way to track its position. Calling this method on a CRServo will return 0.
boolean	isReversed() Determines if the motor's output direction is reversed from its inputs.
void	setPower(double power) Sets the movement power of this motor.
void	setReversed(boolean reversed) Sets if the motor's output direction is reversed from its inputs.
java.lang.String	toString()

Methods inherited from class io.github.thunderbots.lightning.hardware.Motor

stop

Methods inherited from class java.lang.Object

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

Field Detail

baseServo

private Servo baseServo

The servo that this object is based on.

isReversed

private boolean isReversed

Determines if the directionality of this cr servo is reversed or not.

FORWARD

public static final double FORWARD

The maximum power of the servo.

See Also:

Constant Field Values

REST

public static final double REST

The power of the servo when the motor is at rest.

See Also:

Constant Field Values

REVERSE

public static final double REVERSE

The maximum power of the servo when the motor is spinning backwards.

See Also:

Constant Field Values

Constructor Detail

CRServo

public CRServo(Servo baseServo)

Constructs a new CRServo with the given Servo as a base.

Parameters:

baseServo - the servo to base this CR servo on.

Method Detail

getName

public java.lang.String getName()

Description copied from class: Motor

Gets the name of the device as it is defined in the configuration file.

Overrides:

getName in class Motor

Returns:

the name of the motor.

getEncoder

@Deprecated
public Motor.Encoder getEncoder()

Deprecated. A CR servo has no way to track its position. Calling this method on a CRServo will return null.

Description copied from class: Motor

Gets the encoder attached to this motor. This will return an Encoder even if there is no physical encoder attached to the physical motor.

Overrides:

getEncoder in class Motor

Returns:

the encoder on this motor.

getRawPosition

@Deprecated
public int getRawPosition()

Deprecated. A CR servo has no way to track its position. Calling this method on a CRServo will return 0.

Description copied from class: Motor

Gets the raw encoder position value of this motor.

Overrides:

getRawPosition in class Motor

Returns:

the raw encoder value of this motor.

isReversed

public boolean isReversed()

Description copied from class: Motor

Determines if the motor's output direction is reversed from its inputs.

Overrides:

isReversed in class Motor

Returns:

true if the motor's output is reversed from its inputs, or false if the motor's ouput has the same polarity as its input.

setReversed

public void setReversed(boolean reversed)

Description copied from class: Motor

Sets if the motor's output direction is reversed from its inputs.

Overrides:

setReversed in class Motor

Parameters:

reversed - true if the motor's output is reversed from its inputs, or false if the motor's ouput has the same polarity as its input.

getPower

public double getPower()

Description copied from class: Motor

Gets the current movement power of this motor.

Overrides:

getPower in class Motor

Returns:

the current movement power; between -1 and 1.

setPower

public void setPower(double power)

Description copied from class: Motor

Sets the movement power of this motor.

Overrides:

setPower in class Motor

Parameters:

power - the movement power; between -1 and 1.

toString

public java.lang.String toString()

Overrides:

toString in class Motor