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Servo Class Reference

Standard hobby style servo. More...

#include <Servo.h>

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

Public Member Functions

 Servo (uint32_t channel)
 
void Set (float value)
 Set the servo position. More...
 
void SetOffline ()
 Set the servo to offline. More...
 
float Get () const
 Get the servo position. More...
 
void SetAngle (float angle)
 Set the servo angle. More...
 
float 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 SafePWM
 SafePWM (uint32_t channel)
 Constructor for a SafePWM object taking a channel number. More...
 
void SetExpiration (float timeout)
 Set the expiration time for the PWM object. More...
 
float 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 Turn on and off the motor safety option for this PWM object. More...
 
void GetDescription (std::ostringstream &desc) const
 
virtual void SetSpeed (float speed)
 Feed the MotorSafety timer when setting the speed. More...
 
- Public Member Functions inherited from PWM
 PWM (uint32_t channel)
 Allocate a PWM given a channel number. More...
 
virtual ~PWM ()
 Free the PWM channel. More...
 
virtual void SetRaw (unsigned short value)
 Set the PWM value directly to the hardware. More...
 
virtual unsigned short GetRaw () const
 Get the PWM value directly from the hardware. 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 (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
 Set the bounds on the PWM values. More...
 
void SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)
 Set the bounds on the PWM pulse widths. More...
 
uint32_t GetChannel () const
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from 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, uint32_t 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, uint32_t 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, uint32_t 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, uint32_t 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 float GetMaxAngle ()
 
static float GetMinAngle ()
 
- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 

Public Attributes

std::shared_ptr< ITablem_table
 

Additional Inherited Members

- Public Types inherited from PWM
enum  PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from PWM
virtual void SetPosition (float pos)
 Set the PWM value based on a position. More...
 
virtual float GetPosition () const
 Get the PWM value in terms of a position. More...
 
virtual float GetSpeed () const
 Get the PWM value in terms of speed. 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
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from PWM
bool m_eliminateDeadband
 
int32_t m_maxPwm
 
int32_t m_deadbandMaxPwm
 
int32_t m_centerPwm
 
int32_t m_deadbandMinPwm
 
int32_t m_minPwm
 
std::shared_ptr< ITablem_table
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from PWM
static constexpr float kDefaultPwmPeriod = 5.05
 kDefaultPwmPeriod is in ms More...
 
static constexpr float kDefaultPwmCenter = 1.5
 kDefaultPwmCenter is the PWM range center in ms
 
static const int32_t kDefaultPwmStepsDown = 1000
 kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
 
static const int32_t kPwmDisabled = 0
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static 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 ( uint32_t  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

float 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.
float 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 Sendable.

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

Implements 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 Sendable.

void Servo::Set ( float  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 ( float  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: