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.

  • Field Details

  • Constructor Details

    • 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 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