Package frclib.motor

Class FrcServoActuator.Params

java.lang.Object

frclib.motor.FrcServoActuator.Params

Enclosing class:

FrcServoActuator

public static class FrcServoActuator.Params
extends Object

This class contains all the parameters for creating the servo.

Constructor Summary

Constructors

Constructor	Description
Params()

Method Summary

Modifier and Type	Method	Description
FrcServoActuator.Params	setFollowerServo(String name, int channel, boolean inverted)	This methods sets the parameter of the follower servo.
FrcServoActuator.Params	setLogicalPosRange(double minPos, double maxPos)	This method sets the logical position range of the servo in the range of 0.0 to 1.0.
FrcServoActuator.Params	setMaxStepRate(double maxStepRate)	This method sets the maximum stepping rate of the servo.
FrcServoActuator.Params	setPhysicalPosRange(double minPos, double maxPos)	This method sets the physical position range of the servo in real world physical unit.
FrcServoActuator.Params	setPositionPresets(double tolerance, double... posPresets)	This method sets an array of preset positions for the servo actuator.
FrcServoActuator.Params	setPrimaryServo(String name, int channel, boolean inverted)	This methods sets the parameters of the primary servo.
String	toString()	This method returns the string format of the servoParams info.

Methods inherited from class java.lang.Object

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

Constructor Details

Params

public Params()

Method Details

toString

public String toString()

This method returns the string format of the servoParams info.

Overrides:

toString in class Object

Returns:

string format of the servo param info.

setPrimaryServo

public FrcServoActuator.Params setPrimaryServo(String name,
 int channel,
 boolean inverted)

This methods sets the parameters of the primary servo.

Parameters:

name - specifies the name of the servo.

channel - specifies the PWM channel for the servo.

inverted - specifies true if the servo is inverted, false otherwise.

Returns:

this object for chaining.

setFollowerServo

public FrcServoActuator.Params setFollowerServo(String name,
 int channel,
 boolean inverted)

This methods sets the parameter of the follower servo.

Parameters:

name - specifies the name of the servo.

channel - specifies the PWM channel for the servo.

inverted - specifies true if the servo is inverted, false otherwise.

Returns:

this object for chaining.

setPhysicalPosRange

public FrcServoActuator.Params setPhysicalPosRange(double minPos,
 double maxPos)

This method sets the physical position range of the servo in real world physical unit.

Parameters:

minPos - specifies the min physical position.

maxPos - specifies the max physical position.

Returns:

this object for chaining.

setLogicalPosRange

public FrcServoActuator.Params setLogicalPosRange(double minPos,
 double maxPos)

This method sets the logical position range of the servo in the range of 0.0 to 1.0.

Parameters:

minPos - specifies the min logical position.

maxPos - specifies the max logical position.

Returns:

this object for chaining.

setMaxStepRate

public FrcServoActuator.Params setMaxStepRate(double maxStepRate)

This method sets the maximum stepping rate of the servo. This enables setPower to speed control the servo.

Parameters:

maxStepRate - specifies the maximum stepping rate (physicalPos/sec).

Returns:

this parameter object.

setPositionPresets

public FrcServoActuator.Params setPositionPresets(double tolerance,
 double... posPresets)

This method sets an array of preset positions for the servo actuator.

Parameters:

tolerance - specifies the preset tolerance.

posPresets - specifies an array of preset positions in scaled unit.

Returns:

this object for chaining.