wpi::ExpansionHubServo Class Reference

This class controls a specific servo in positional/servo mode hooked up to an ExpansionHub. More...

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

Public Member Functions
	ExpansionHubServo (int usbId, int channel)
	Constructs a servo at the requested channel on a specific USB port.
	~ExpansionHubServo () noexcept
void	SetPosition (double value)
	Set the servo position.
void	SetAngle (wpi::units::degree_t angle)
	Sets the servo angle.
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	SetAngleRange (wpi::units::degree_t minAngle, wpi::units::degree_t maxAngle)
	Sets the angle range for the SetAngle call.
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 positional/servo mode hooked up to an ExpansionHub.

Constructor & Destructor Documentation

ExpansionHubServo()

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

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

See also

ExpansionHubCRServo if the servo is in continuous rotation mode

Parameters

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

~ExpansionHubServo()

wpi::ExpansionHubServo::~ExpansionHubServo ( )

noexcept

Member Function Documentation

IsHubConnected()

bool wpi::ExpansionHubServo::IsHubConnected ( ) const

inline

Gets if the underlying ExpansionHub is connected.

Returns

True if hub is connected, otherwise false

SetAngle()

void wpi::ExpansionHubServo::SetAngle

(

wpi::units::degree_t

angle

)

Sets the servo angle.

Servo angles range defaults to 0 to 180 degrees, but can be changed with setAngleRange().

Parameters

angle

Position in angle units. Will be clamped to be within the current angle range.

SetAngleRange()

void wpi::ExpansionHubServo::SetAngleRange	(	wpi::units::degree_t	minAngle,
		wpi::units::degree_t	maxAngle )

Sets the angle range for the SetAngle call.

By default, this is 0 to 180 degrees.

Maximum angle must be greater than minimum angle.

Parameters

minAngle	Minimum angle
maxAngle	Maximum angle

SetEnabled()

void wpi::ExpansionHubServo::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::ExpansionHubServo::SetFramePeriod

(

wpi::units::microsecond_t

framePeriod

)

Sets the frame period for the servo.

Defaults to 20ms.

Parameters

framePeriod

The frame period

SetPosition()

void wpi::ExpansionHubServo::SetPosition

(

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.

SetPulseWidth()

void wpi::ExpansionHubServo::SetPulseWidth

(

wpi::units::microsecond_t

pulseWidth

)

Sets the raw pulse width output on the servo.

Parameters

pulseWidth

Pulse width

SetPWMRange()

void wpi::ExpansionHubServo::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::ExpansionHubServo::SetReversed

(

bool

reversed

)

Sets whether the servo is reversed.

This will reverse both SetPosition() and SetAngle().

Parameters

reversed

True to reverse, false for normal

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

• wpi/hardware/expansionhub/ExpansionHubServo.hpp