com.qualcomm.robotcore.hardware

Class Servo

java.lang.Object

com.qualcomm.robotcore.hardware.Servo

All Implemented Interfaces:

HardwareDevice

public class Servo
extends java.lang.Object
implements HardwareDevice

Control a single servo

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Servo.Direction Motor direction

Field Summary

Fields

Modifier and Type	Field and Description
protected ServoController	controller
protected Servo.Direction	direction
static double	MAX_POSITION
protected double	maxPosition
static double	MIN_POSITION
protected double	minPosition
protected int	portNumber

Constructor Summary

Constructors

Constructor and Description
Servo(ServoController controller, int portNumber) Constructor
Servo(ServoController controller, int portNumber, Servo.Direction direction) COnstructor

Method Summary

Methods

Modifier and Type	Method and Description
void	close() Close this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
ServoController	getController() Get Servo Controller
java.lang.String	getDeviceName() Device Name
Servo.Direction	getDirection() Get the direction
int	getPortNumber() Get Channel
double	getPosition() Get the position of the servo
int	getVersion() Version
void	scaleRange(double min, double max) Automatically scale the position of the servo.
void	setDirection(Servo.Direction direction) Set the direction
void	setPosition(double position) Set the position of the servo

Methods inherited from class java.lang.Object

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

Field Detail

MIN_POSITION

public static final double MIN_POSITION

See Also:

Constant Field Values

MAX_POSITION

public static final double MAX_POSITION

See Also:

Constant Field Values

controller

protected ServoController controller

portNumber

protected int portNumber

direction

protected Servo.Direction direction

minPosition

protected double minPosition

maxPosition

protected double maxPosition

Constructor Detail

Servo

public Servo(ServoController controller,
     int portNumber)

Constructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

Servo

public Servo(ServoController controller,
     int portNumber,
     Servo.Direction direction)

COnstructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

direction - FORWARD for normal operation, REVERSE to reverse operation

Method Detail

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Device Name

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

close

public void close()

Description copied from interface: HardwareDevice

Close this device

Specified by:

close in interface HardwareDevice

getController

public ServoController getController()

Get Servo Controller

Returns:

servo controller

setDirection

public void setDirection(Servo.Direction direction)

Set the direction

Parameters:

direction - direction

getDirection

public Servo.Direction getDirection()

Get the direction

Returns:

direction

getPortNumber

public int getPortNumber()

Get Channel

Returns:

channel

setPosition

public void setPosition(double position)

Set the position of the servo

Parameters:

position - from 0.0 to 1.0

getPosition

public double getPosition()

Get the position of the servo

Returns:

position, scaled from 0.0 to 1.0

scaleRange

public void scaleRange(double min,
              double max)
                throws java.lang.IllegalArgumentException

Automatically scale the position of the servo.

For example, if scaleRange(0.2, 0.8) is set; then servo positions will be scaled to fit in that range.
setPosition(0.0) scales to 0.2
setPosition(1.0) scales to 0.8
setPosition(0.5) scales to 0.5
setPosition(0.25) scales to 0.35
setPosition(0.75) scales to 0.65

This is useful if you don't want the servo to move past a given position, but don't want to manually scale the input to setPosition each time. getPosition() will scale the value back to a value between 0.0 and 1.0. If you need to know the actual position use Servo.getController().getServoPosition(Servo.getChannel()).

Parameters:

min - minimum position of the servo from 0.0 to 1.0

max - maximum position of the servo from 0.0 to 1.0

Throws:

java.lang.IllegalArgumentException - if out of bounds, or min >= max