Command/com.amarcolini.joos.hardware/Servo

Servo

class Servo @JvmOverloads constructor(servo: Servo, val range: Angle = 300.deg, clock: NanoClock = NanoClock.system) : Component

A wrapper for the Servo object in the FTC SDK.

Parameters

servo

the servo for this wrapper to use

range

the range of the servo

Constructors

Servo

@JvmOverloads

constructor(hMap: HardwareMap, id: String, range: Angle = 180.deg, clock: NanoClock = NanoClock.system)

@JvmOverloads

constructor(servo: Servo, range: Angle = 300.deg, clock: NanoClock = NanoClock.system)

Properties

angle

var angle: Angle

Angular representation of the servo's position in the range [0.0, range]. Setting the angle sets position and vice versa. Note that the angle of the servo is independent of scaleRange, but the available angle range is not.

currentAngleRange

var currentAngleRange: Pair<Angle, Angle>

The currently available movement range of the servo. Affected by scaleRange.

currentRange

var currentRange: Pair<Double, Double>

The currently available movement range of the servo. Affected by scaleRange.

internal

@JvmField

val internal: Servo

position

var position: Double

The position of this servo in the range [0.0, 1.0].

range

@JvmField

val range: Angle

reversed

@get:JvmName(name = "isReversed")

var reversed: Boolean

Whether this servo is reversed.

Functions

goToAngle

fun goToAngle(angle: Angle, speed: Angle): Command

Returns a command that uses range and speed (specified in units per second) to go to the specified angle at the desired speed. Note that since there is no feedback from the servo, it may or may not actually achieve the desired speed.

fun goToAngle(angle: Angle, speed: Double): Command

Returns a command that goes to the specified angle at the desired speed. Note that since there is no feedback from the servo, it may or may not actually achieve the desired speed.

goToPosition

fun goToPosition(position: Double, speed: Angle): Command

Returns a command that uses range and speed (specified in units per second) to go to the specified position at the desired speed by slowly incrementing the position. Note that since there is no feedback from the servo, it may or may not actually achieve the desired speed.

fun goToPosition(position: Double, speed: Double): Command

Returns a command that goes to the specified position at the desired speed. Note that since there is no feedback from the servo, it may or may not actually achieve the desired speed.

scaleRange

fun scaleRange(min: Angle, max: Angle)

Scales the available movement range of the servo to be a subset of its maximum range. Subsequent positioning calls will operate within that subset range. This is useful if your servo has only a limited useful range of movement due to the physical hardware that it is manipulating (as is often the case) but you don't want to have to manually adjust the input to position each time. For example, if the range of the servo is 180°, and scaleRange(30°, 90°) is set; then servo positions will be clamped to fit in that range:

fun scaleRange(min: Double, max: Double)

Scales the available movement range of the servo to be a subset of its maximum range. Subsequent positioning calls will operate within that subset range. This is useful if your servo has only a limited useful range of movement due to the physical hardware that it is manipulating (as is often the case) but you don't want to have to manually scale and adjust the input to position each time. For example, if scaleRange(0.2, 0.8) is set; then servo positions will be scaled to fit in that range:

setReversed

fun setReversed(reversed: Boolean): Servo

waitForAngle

fun waitForAngle(angle: Angle, speed: Angle): Command

Returns a command that uses range and speed (specified in units per second) to estimate when the servo will reach the specified angle, and waits until that point.

fun waitForAngle(angle: Angle, speed: Double): Command

Returns a command that uses speed to estimate when the servo will reach the specified angle, and waits until that point.

waitForPosition

fun waitForPosition(position: Double, speed: Angle): Command

Returns a command that uses range and speed (specified in units per second) to estimate when the servo will reach the specified position, and waits until that point.

fun waitForPosition(position: Double, speed: Double): Command

Returns a command that uses speed to estimate when the servo will reach the specified position, and waits until that point.