Class ExpansionHubServo

java.lang.Object

org.wpilib.hardware.expansionhub.ExpansionHubServo

All Implemented Interfaces:

AutoCloseable

public class ExpansionHubServo
extends Object
implements AutoCloseable

This class controls a specific servo hooked up to an ExpansionHub.

Constructor Summary

Constructors

Constructor	Description
ExpansionHubServo(int usbId, int channel)	Constructs a servo at the requested channel on a specific USB port.

Method Summary

Modifier and Type	Method	Description
void	close()	Closes a servo so another instance can be constructed.
boolean	isHubConnected()	Gets if the underlying ExpansionHub is connected.
void	set(double value)	Set the servo position.
void	setAngle(Angle angle)	Sets the servo angle
void	setAngleRange(double minAngle, double maxAngle)	Sets the angle range for the setAngle call.
void	setContinousRotationMode(boolean enable)	Enables or disables continuous rotation mode.
void	setEnabled(boolean enabled)	Sets if the servo output is enabled or not.
void	setFramePeriod(Time framePeriod)	Sets the frame period for the servo.
void	setPulseWidth(Time pulseWidth)	Sets the raw pulse width output on the servo.
void	setPWMRange(int minPwm, int maxPwm)	Sets the PWM range for the servo.
void	setReversed(boolean reversed)	Sets whether the servo is reversed.

Methods inherited from class Object

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

Constructor Details

ExpansionHubServo

public ExpansionHubServo(int usbId,
 int channel)

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

Parameters:

usbId - The USB port ID the hub is connected to

channel - The servo channel

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. If continuous rotation mode is enabled, the range is -1.0 to 1.0.

Parameters:

value - Position from 0.0 to 1.0 (-1 to 1 in CR mode).

setAngle

public void setAngle(Angle 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 scaled between the current angle range.

setPulseWidth

public void setPulseWidth(Time pulseWidth)

Sets the raw pulse width output on the servo.

Parameters:

pulseWidth - Pulse width

setEnabled

public void setEnabled(boolean enabled)

Sets if the servo output is enabled or not. Defaults to false.

Parameters:

enabled - True to enable, false to disable

setFramePeriod

public void setFramePeriod(Time framePeriod)

Sets the frame period for the servo. Defaults to 20ms.

Parameters:

framePeriod - The frame period

isHubConnected

public boolean isHubConnected()

Gets if the underlying ExpansionHub is connected.

Returns:

True if hub is connected, otherwise false

setReversed

public void setReversed(boolean reversed)

Sets whether the servo is reversed.

This will reverse both set() and setAngle().

Parameters:

reversed - True to reverse, false for normal

setPWMRange

public void setPWMRange(int minPwm,
 int 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

setAngleRange

public void setAngleRange(double minAngle,
 double 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

setContinousRotationMode

public void setContinousRotationMode(boolean enable)

Enables or disables continuous rotation mode.

In continuous rotation mode, the servo will interpret Set() commands to between -1.0 and 1.0, instead of 0.0 to 1.0.

Parameters:

enable - True to enable continuous rotation mode, false to disable

close

public void close()

Closes a servo so another instance can be constructed.

Specified by:

close in interface AutoCloseable