Class Servo

  • All Implemented Interfaces:
    Sendable, AutoCloseable

    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.

    • 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.