Package frclib.motor

Class FrcServo

java.lang.Object

trclib.motor.TrcServo

frclib.motor.FrcServo

All Implemented Interfaces:

TrcExclusiveSubsystem

public class FrcServo
extends TrcServo

This class implements an FRC specific servo motor that connects to a specified PWM channel on the RoboRIO. This class extends TrcServo and is implementing the abstract methods required by TrcServo.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.motor.TrcServo

TrcServo.Params

Nested classes/interfaces inherited from interface trclib.robotcore.TrcExclusiveSubsystem

TrcExclusiveSubsystem.OwnershipParams

Field Summary

Fields inherited from class trclib.motor.TrcServo

servoSetPosElapsedTimer, tracer

Constructor Summary

Constructors

Constructor	Description
FrcServo(String instanceName, int pwmChannel)	Constructor: Create an instance of the object.
FrcServo(String instanceName, int pwmChannel, TrcServo.Params params)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
double	getLogicalPosition()	This method returns the logical position value set by the last setLogicalPosition call.
boolean	isInverted()	This method checks if the servo motor direction is inverted.
void	setInverted(boolean inverted)	This method inverts the servo motor direction.
void	setLogicalPosition(double position)	This method sets the logical position of the servo motor.

Methods inherited from class trclib.motor.TrcServo

cancel, cancel, follow, getPosition, getPower, presetPositionDown, presetPositionUp, printElapsedTime, setElapsedTimerEnabled, setLogicalPosRange, setMaxStepRate, setPhysicalPosRange, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPosPresets, setPower, setPower, setPower, setPower, setPower, setPower, setPresetPosition, toLogicalPosition, toPhysicalPosition, toString

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.robotcore.TrcExclusiveSubsystem

acquireExclusiveAccess, acquireOwnership, cancelExclusiveAccess, getCurrentOwner, hasOwnership, releaseExclusiveAccess, releaseOwnership, validateOwnership

Constructor Details

FrcServo

public FrcServo(String instanceName,
 int pwmChannel,
 TrcServo.Params params)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

pwmChannel - specifies the PWM channel the servo is connected to.

params - specifies the parameters of the servo.

FrcServo

public FrcServo(String instanceName,
 int pwmChannel)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

pwmChannel - specifies the PWM channel the servo is connected to.

Method Details

setInverted

public void setInverted(boolean inverted)

This method inverts the servo motor direction.

Specified by:

setInverted in class TrcServo

Parameters:

inverted - specifies true to invert the servo direction, false otherwise.

isInverted

public boolean isInverted()

This method checks if the servo motor direction is inverted.

Specified by:

isInverted in class TrcServo

Returns:

true if the servo direction is inverted, false otherwise.

setLogicalPosition

public void setLogicalPosition(double position)

This method sets the logical position of the servo motor.

Specified by:

setLogicalPosition in class TrcServo

Parameters:

position - specifies the logical position of the servo motor in the range of [0.0, 1.0].

getLogicalPosition

public double getLogicalPosition()

This method returns the logical position value set by the last setLogicalPosition call. Note that servo motors do not provide real time position feedback. Therefore, getLogicalPosition doesn't actually return the current position.

Specified by:

getLogicalPosition in class TrcServo

Returns:

motor position value set by the last setLogicalPosition call in the range of [0.0, 1.0].