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frc::Servo Class Reference

Standard hobby style servo. More...

#include <Servo.h>

Inheritance diagram for frc::Servo:
frc::SafePWM frc::PWM frc::MotorSafety frc::SensorBase ITableListener frc::LiveWindowSendable frc::ErrorBase frc::Sendable

Public Member Functions

 Servo (int channel)
 
void Set (double value)
 Set the servo position. More...
 
void SetOffline ()
 Set the servo to offline. More...
 
double Get () const
 Get the servo position. More...
 
void SetAngle (double angle)
 Set the servo angle. More...
 
double GetAngle () const
 Get the servo angle. More...
 
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 Called when a key-value pair is changed in a ITable. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Public Member Functions inherited from frc::SafePWM
 SafePWM (int channel)
 Constructor for a SafePWM object taking a channel number. More...
 
void SetExpiration (double timeout)
 Set the expiration time for the PWM object. More...
 
double GetExpiration () const
 Return the expiration time for the PWM object. More...
 
bool IsAlive () const
 Check if the PWM object is currently alive or stopped due to a timeout. More...
 
void StopMotor ()
 Stop the motor associated with this PWM object. More...
 
bool IsSafetyEnabled () const
 Check if motor safety is enabled for this object. More...
 
void SetSafetyEnabled (bool enabled)
 Enable/disable motor safety for this device. More...
 
void GetDescription (std::ostringstream &desc) const
 
virtual void SetSpeed (double speed)
 Feed the MotorSafety timer when setting the speed. More...
 
- Public Member Functions inherited from frc::PWM
 PWM (int channel)
 Allocate a PWM given a channel number. More...
 
virtual ~PWM ()
 Free the PWM channel. More...
 
virtual void SetRaw (uint16_t value)
 Set the PWM value directly to the hardware. More...
 
virtual uint16_t GetRaw () const
 Get the PWM value directly from the hardware. More...
 
virtual void SetPosition (double pos)
 Set the PWM value based on a position. More...
 
virtual double GetPosition () const
 Get the PWM value in terms of a position. More...
 
virtual double GetSpeed () const
 Get the PWM value in terms of speed. More...
 
virtual void SetDisabled ()
 Temporarily disables the PWM output. More...
 
void SetPeriodMultiplier (PeriodMultiplier mult)
 Slow down the PWM signal for old devices. More...
 
void SetZeroLatch ()
 
void EnableDeadbandElimination (bool eliminateDeadband)
 Optionally eliminate the deadband from a speed controller. More...
 
void SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
 Set the bounds on the PWM pulse widths. More...
 
void SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min)
 Set the bounds on the PWM values. More...
 
void GetRawBounds (int32_t *max, int32_t *deadbandMax, int32_t *center, int32_t *deadbandMin, int32_t *min)
 Get the bounds on the PWM values. More...
 
int GetChannel () const
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from ITableListener
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Static Public Member Functions

static double GetMaxAngle ()
 
static double GetMinAngle ()
 
- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 

Public Attributes

std::shared_ptr< ITablem_table
 

Additional Inherited Members

- Public Types inherited from frc::PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Protected Member Functions inherited from frc::PWM
void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
 Called when a key-value pair is changed in a ITable. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Protected Attributes inherited from frc::PWM
std::shared_ptr< ITablem_table
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static hal::priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

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 & Destructor Documentation

Servo::Servo ( int  channel)
explicit
Parameters
channelThe PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port

Member Function Documentation

double Servo::Get ( ) const

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.
double Servo::GetAngle ( ) const

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.
std::string Servo::GetSmartDashboardType ( ) const
overridevirtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements frc::Sendable.

std::shared_ptr< ITable > Servo::GetTable ( ) const
overridevirtual
Returns
the table that is currently associated with the sendable

Implements frc::Sendable.

void Servo::InitTable ( std::shared_ptr< ITable subtable)
overridevirtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements frc::Sendable.

void Servo::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
valuePosition from 0.0 to 1.0.
void Servo::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
degreesThe angle in degrees to set the servo.
void Servo::SetOffline ( )

Set the servo to offline.

Set the servo raw value to 0 (undriven)

void Servo::ValueChanged ( ITable source,
llvm::StringRef  key,
std::shared_ptr< nt::Value value,
bool  isNew 
)
overridevirtual

Called when a key-value pair is changed in a ITable.

Parameters
sourcethe table the key-value pair exists in
keythe key associated with the value that changed
valuethe new value
isNewtrue if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.


The documentation for this class was generated from the following files: