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. More...
	Servo (Servo &&)=default
Servo &	operator= (Servo &&)=default
void	Set (double value)
	Set the servo position. More...
void	SetOffline ()
	Set the servo to offline. More...
double	Get () const
	Get the servo position. More...
void	SetAngle (double angle)
	Set the servo angle. More...
double	GetAngle () const
	Get the servo angle. More...
double	GetMaxAngle () const
	Get the maximum angle of the servo. More...
double	GetMinAngle () const
	Get the minimum angle of the servo. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from frc::PWM
	PWM (int channel, bool registerSendable=true)
	Allocate a PWM given a channel number. More...
	~PWM () override
	Free the PWM channel. More...
	PWM (PWM &&)=default
PWM &	operator= (PWM &&)=default
virtual void	SetPulseTime (units::microsecond_t time)
	Set the PWM pulse time directly to the hardware. More...
virtual units::microsecond_t	GetPulseTime () const
	Get the PWM pulse time directly from the hardware. More...
virtual void	SetPosition (double pos)
	Set the PWM value based on a position. More...
virtual double	GetPosition () const
	Get the PWM value in terms of a position. More...
virtual void	SetSpeed (double speed)
	Set the PWM value based on a speed. More...
virtual double	GetSpeed () const
	Get the PWM value in terms of speed. More...
virtual void	SetDisabled ()
	Temporarily disables the PWM output. More...
void	SetPeriodMultiplier (PeriodMultiplier mult)
	Slow down the PWM signal for old devices. More...
void	SetZeroLatch ()
	Latches PWM to zero. More...
void	EnableDeadbandElimination (bool eliminateDeadband)
	Optionally eliminate the deadband from a motor controller. More...
void	SetBounds (units::microsecond_t max, units::microsecond_t deadbandMax, units::microsecond_t center, units::microsecond_t deadbandMin, units::microsecond_t min)
	Set the bounds on the PWM pulse widths. More...
void	GetBounds (units::microsecond_t *max, units::microsecond_t *deadbandMax, units::microsecond_t *center, units::microsecond_t *deadbandMin, units::microsecond_t *min)
	Get the bounds on the PWM values. More...
void	SetAlwaysHighMode ()
	Sets the PWM output to be a continuous high signal while enabled. More...
int	GetChannel () const
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< PWM >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Public Types inherited from frc::PWM
enum	PeriodMultiplier { kPeriodMultiplier_1X = 1 , kPeriodMultiplier_2X = 2 , kPeriodMultiplier_4X = 4 }
	Represents the amount to multiply the minimum servo-pulse pwm period by. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Protected Member Functions inherited from wpi::SendableHelper< PWM >
	SendableHelper ()=default
	~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.

GetMaxAngle()

double frc::Servo::GetMaxAngle

(

)

const

Get the maximum angle of the servo.

Returns

The maximum angle of the servo in degrees.

GetMinAngle()

double frc::Servo::GetMinAngle

(

)

const

Get the minimum angle of the servo.

Returns

The minimum angle of the servo in degrees.

InitSendable()

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

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Reimplemented from frc::PWM.

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.

SetOffline()

void frc::Servo::SetOffline

(

)

Set the servo to offline.

Set the servo raw value to 0 (undriven)

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

• frc/Servo.h