frc::Servo Class Reference

Standard hobby style servo. More...

#include <frc/Servo.h>

Inheritance diagram for frc::Servo:

Public Member Functions
	Servo (int channel)
	Constructor.
	Servo (Servo &&)=default
Servo &	operator= (Servo &&)=default
void	Set (double value)
	Set the servo position.
double	Get () const
	Get the servo position.
void	SetAngle (double angle)
	Set the servo angle.
double	GetAngle () const
	Get the servo angle.
int	GetChannel () const
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::SendableHelper< Servo >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Friends
class	frc::sim::ServoSim

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< Servo >
constexpr	SendableHelper ()=default
constexpr	~SendableHelper ()

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() [1/2]

frc::Servo::Servo ( int channel )

explicit

Constructor.

By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the min PWM value.

Parameters

channel

The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port

Servo() [2/2]

frc::Servo::Servo ( Servo && )

default

Member Function Documentation

Get()

double frc::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. 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.

GetAngle()

double frc::Servo::GetAngle

(

)

const

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.

GetChannel()

int frc::Servo::GetChannel

(

)

const

InitSendable()

void frc::Servo::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

Servo & frc::Servo::operator= ( Servo && )

default

Set()

void frc::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

value

Position from 0.0 to 1.0.

SetAngle()

void frc::Servo::SetAngle

(

double

angle

)

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

angle

The angle in degrees to set the servo.

Friends And Related Symbol Documentation

frc::sim::ServoSim

friend class frc::sim::ServoSim

friend

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

• frc/Servo.h