Package ftclib.subsystem

Class FtcDifferentialServoWrist

java.lang.Object

ftclib.subsystem.FtcDifferentialServoWrist

public class FtcDifferentialServoWrist
extends Object

This class implements a platform dependent Differential Servo Wrist Subsystem. A Differential Servo Wrist consists of two servos controlling two degrees of freedom. The wrist can tilt as well as rotate. When the two servos turn in the same direction on the mounted axis, the wrist tilts up and down. When the two servos turn in opposite directions, the wrist rotates.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FtcDifferentialServoWrist.Params	This class contains all the parameters of the Differential Servo Wrist.

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcDifferentialServoWrist	wrist

Constructor Summary

Constructors

Constructor	Description
FtcDifferentialServoWrist(String instanceName, FtcDifferentialServoWrist.Params params)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcDifferentialServoWrist	getWrist()	This method returns the created differential servo wrist.

Methods inherited from class java.lang.Object

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

Field Details

wrist

private final TrcDifferentialServoWrist wrist

Constructor Details

FtcDifferentialServoWrist

public FtcDifferentialServoWrist(String instanceName,
 FtcDifferentialServoWrist.Params params)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

params - specifies the servo wrist parameters.

Method Details

getWrist

public TrcDifferentialServoWrist getWrist()

This method returns the created differential servo wrist.

Returns:

differential servo wrist.