Package edu.wpi.first.wpilibj

Class Servo

java.lang.Object

edu.wpi.first.wpilibj.PWM

edu.wpi.first.wpilibj.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.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM

PWM.PeriodMultiplier

Field Summary

Fields

Modifier and Type	Field	Description
protected static int	kDefaultMaxServoPWM
protected static int	kDefaultMinServoPWM

Constructor Summary

Constructors

Constructor	Description
Servo(int channel)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	get()	Get the servo position.
double	getAngle()	Get the servo angle.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	set(double value)	Set the servo position.
void	setAngle(double degrees)	Set the servo angle.

Methods inherited from class edu.wpi.first.wpilibj.PWM

close, enableDeadbandElimination, getBoundsMicroseconds, getChannel, getHandle, getPosition, getPulseTimeMicroseconds, getSpeed, setAlwaysHighMode, setBoundsMicroseconds, setDisabled, setPeriodMultiplier, setPosition, setPulseTimeMicroseconds, setSpeed, setZeroLatch

Methods inherited from class java.lang.Object

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

Field Details

kDefaultMaxServoPWM

protected static final int kDefaultMaxServoPWM

See Also:

Constant Field Values

kDefaultMinServoPWM

protected static final int kDefaultMinServoPWM

See Also:

Constant Field Values

Constructor Details

Servo

public Servo(int channel)

Constructor.

By default 2400 ms is used as the maxPWM value
By default 600 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 Details

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. This returns the commanded position, not the position that the servo is actually at, as the servo does not report its own position.

Returns:

Position from 0.0 to 1.0.

setAngle

public void setAngle(double degrees)

Set the servo angle.

The angles are based on the HS-322HD Servo, and have a range of 0 to 180 degrees.

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.

This returns the commanded angle, not the angle that the servo is actually at, as the servo does not report its own angle.

Returns:

The angle in degrees to which the servo is set.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class PWM

Parameters:

builder - sendable builder