wpi::ExpansionHubCRServo Class Reference

This class controls a specific servo in continuous rotation mode hooked up to an ExpansionHub. More...

#include <wpi/hardware/expansionhub/ExpansionHubCRServo.hpp>

Public Member Functions
	ExpansionHubCRServo (int usbId, int channel)
	Constructs a continuous rotation servo at the requested channel on a specific USB port.
	~ExpansionHubCRServo () noexcept
void	SetThrottle (double value)
	Set the servo throttle.
void	SetPulseWidth (wpi::units::microsecond_t pulseWidth)
	Sets the raw pulse width output on the servo.
void	SetEnabled (bool enabled)
	Sets if the servo output is enabled or not.
void	SetFramePeriod (wpi::units::microsecond_t framePeriod)
	Sets the frame period for the servo.
bool	IsHubConnected () const
	Gets if the underlying ExpansionHub is connected.
void	SetPWMRange (wpi::units::microsecond_t minPwm, wpi::units::microsecond_t maxPwm)
	Sets the PWM range for the servo.
void	SetReversed (bool reversed)
	Sets whether the servo is reversed.

Detailed Description

This class controls a specific servo in continuous rotation mode hooked up to an ExpansionHub.

Constructor & Destructor Documentation

ExpansionHubCRServo()

wpi::ExpansionHubCRServo::ExpansionHubCRServo	(	int	usbId,
		int	channel )

Constructs a continuous rotation servo at the requested channel on a specific USB port.

See also

ExpansionHubServo for a servo mode, or non-continuous rotation servo

Parameters

usbId	The USB port ID the hub is connected to
channel	The servo channel

~ExpansionHubCRServo()

wpi::ExpansionHubCRServo::~ExpansionHubCRServo ( )

noexcept

Member Function Documentation

IsHubConnected()

bool wpi::ExpansionHubCRServo::IsHubConnected ( ) const

inline

Gets if the underlying ExpansionHub is connected.

Returns

True if hub is connected, otherwise false

SetEnabled()

void wpi::ExpansionHubCRServo::SetEnabled

(

bool

enabled

)

Sets if the servo output is enabled or not.

Defaults to false.

Parameters

enabled

True to enable, false to disable

SetFramePeriod()

void wpi::ExpansionHubCRServo::SetFramePeriod

(

wpi::units::microsecond_t

framePeriod

)

Sets the frame period for the servo.

Defaults to 20ms.

Parameters

framePeriod

The frame period

SetPulseWidth()

void wpi::ExpansionHubCRServo::SetPulseWidth

(

wpi::units::microsecond_t

pulseWidth

)

Sets the raw pulse width output on the servo.

Parameters

pulseWidth

Pulse width

SetPWMRange()

void wpi::ExpansionHubCRServo::SetPWMRange	(	wpi::units::microsecond_t	minPwm,
		wpi::units::microsecond_t	maxPwm )

Sets the PWM range for the servo.

By default, this is 600 to 2400 microseconds.

Maximum must be greater than minimum.

Parameters

minPwm	Minimum PWM
maxPwm	Maximum PWM

SetReversed()

void wpi::ExpansionHubCRServo::SetReversed

(

bool

reversed

)

Sets whether the servo is reversed.

This will reverse SetThrottle.

Parameters

reversed

True to reverse, false for normal

SetThrottle()

void wpi::ExpansionHubCRServo::SetThrottle

(

double

value

)

Set the servo throttle.

Throttle values range from -1.0 to 1.0 corresponding to full reverse to full forward.

Parameters

value

Throttle from -1.0 to 1.0.

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

• wpi/hardware/expansionhub/ExpansionHubCRServo.hpp