io.github.thunderbots.lightning.hardware

Class Servo

java.lang.Object

io.github.thunderbots.lightning.hardware.Servo

public class Servo
extends java.lang.Object

A Servo represents any physical servo on that is connected to the robot.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.Servo	baseServo The servo that this object is based on.
static double	CENTER_POSITION The default center position of the servo.
private double	centerPos The 'center' position of this servo.
static double	MAX_POSITION The maximum position of the servo.
static double	MIN_POSITION The minimum position of the servo.

Constructor Summary

Constructors

Constructor and Description
Servo(com.qualcomm.robotcore.hardware.Servo baseServo) Constructs a new servo that uses the given robotcore Servo as a base.

Method Summary

Modifier and Type	Method and Description
void	center() Moves the servo to its center position.
double	getCenterPosition() Gets the 'center' position of this servo.
java.lang.String	getName() Gets the name of the device as it is defined in the configuration file.
double	getPosition() Gets the current position of this servo.
void	move(double increment) Moves the servo to its current position plus the given increment.
void	moveToPosition(double position) Moves the servo to the given position.
void	setCenterPosition(double position) Sets the 'center' position of this servo.
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

baseServo

private com.qualcomm.robotcore.hardware.Servo baseServo

The servo that this object is based on.

centerPos

private double centerPos

The 'center' position of this servo. The default value is CENTER_POSITION.

MIN_POSITION

public static final double MIN_POSITION

The minimum position of the servo. At the time of writing this, it is currently 0.0, but this may change in the future.

See Also:

Constant Field Values

MAX_POSITION

public static final double MAX_POSITION

The maximum position of the servo. At the time of writing this, it is currently 1.0, but this may change in the future.

See Also:

Constant Field Values

CENTER_POSITION

public static final double CENTER_POSITION

The default center position of the servo. It is the average value of the minimum and maximum positions.

See Also:

Constant Field Values

Constructor Detail

Servo

public Servo(com.qualcomm.robotcore.hardware.Servo baseServo)

Constructs a new servo that uses the given robotcore Servo as a base.

Parameters:

baseServo - the base robotcore Servo

Method Detail

getName

public java.lang.String getName()

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

Returns:

the name of the servo.

getCenterPosition

public double getCenterPosition()

Gets the 'center' position of this servo.

Returns:

the 'center' position of this servo.

See Also:

centerPos

setCenterPosition

public void setCenterPosition(double position)

Sets the 'center' position of this servo.

Parameters:

position - the new 'center' position of this servo.

See Also:

centerPos

getPosition

public double getPosition()

Gets the current position of this servo.

Returns:

the current position of this servo.

moveToPosition

public void moveToPosition(double position)

Moves the servo to the given position.

Parameters:

position - the position to move to.

move

public void move(double increment)

Moves the servo to its current position plus the given increment.

Parameters:

increment - the change in servo position.

center

public void center()

Moves the servo to its center position.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object