Package trclib.motor

Class TrcServo

java.lang.Object

trclib.motor.TrcServo

All Implemented Interfaces:

TrcExclusiveSubsystem

Direct Known Subclasses:

FtcServo

public abstract class TrcServo
extends Object
implements TrcExclusiveSubsystem

This class implements a platform independent servo. Typically, this class is to be extended by a platform dependent servo class and must provide a set of abstract methods. This makes sure the rest of the TrcLib classes can access the servo without any knowledge of platform dependent implementations.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static class	TrcServo.ActionParams
private static enum	TrcServo.ActionType
static class	TrcServo.Params

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

TrcExclusiveSubsystem.OwnershipParams

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcServo.ActionParams	actionParams
private double	currPower
private static final double	DEF_LOGICAL_MAX
private static final double	DEF_LOGICAL_MIN
private static final double	DEF_PHYSICAL_MAX
private static final double	DEF_PHYSICAL_MIN
private final ArrayList<TrcServo>	followers
private final String	instanceName
private TrcPresets	posPresets
private Double	prevLogicalPos
private final TrcServo.Params	servoParams
protected static TrcElapsedTimer	servoSetPosElapsedTimer
private final TrcTaskMgr.TaskObject	servoTaskObj
private final TrcTimer	timer
final TrcDbgTrace	tracer

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
private boolean	addFollower(TrcServo followingServo)	This method adds a following servo to the followers list.
void	cancel()	This method cancels previous servo operation if applicable.
void	cancel(String owner)	This method cancels previous servo operation if applicable.
private void	finish(String owner, boolean canceled)	This method finishes previous servo operation if applicable.
void	follow(TrcServo servo)	This method sets this servo to follow the specified servo.
abstract double	getLogicalPosition()	This method returns the logical position of the servo.
double	getPosition()	This method returns the physical position value of the servo.
double	getPower()	This method returns the last set power value.
abstract boolean	isInverted()	This method checks if the servo direction is inverted.
private boolean	isTaskEnabled()	This method checks if the task is enabled.
private void	performSetPosition(Object context)	This method performs the setPosition action.
private void	performSetPositionWithStepRate(Object context)	This method performs the setPositionWithStepRate action.
private void	performSetPower(Object context)	This method performs the setPower action.
void	presetPositionDown(String owner)	This method sets the actuator to the next preset position down from the current position.
void	presetPositionUp(String owner)	This method sets the actuator to the next preset position up from the current position.
static void	printElapsedTime(TrcDbgTrace msgTracer)	This method prints the elapsed time info.
private void	servoTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)	This method is called periodically to check whether the servo has reached target.
static void	setElapsedTimerEnabled(boolean enabled)	This method enables/disables the elapsed timers for performance monitoring.
abstract void	setInverted(boolean inverted)	This method inverts the servo direction.
abstract void	setLogicalPosition(double position)	This method sets the logical position of the servo.
void	setLogicalPosRange(double logicalMin, double logicalMax)	This method sets the logical range of the servo motor.
void	setMaxStepRate(double maxStepRate)	This method sets the maximum stepping rate of the servo.
private void	setNextPresetPosition(String owner, boolean presetUp)	This method sets the actuator to the next preset position up or down from the current position.
void	setPhysicalPosRange(double physicalMin, double physicalMax)	This method sets the physical range of the servo motor.
void	setPosition(double position)	This method sets the servo position.
void	setPosition(double position, double stepRate)	This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.
void	setPosition(double delay, double position, double stepRate, TrcEvent completionEvent)	This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.
void	setPosition(double position, double stepRate, TrcEvent completionEvent)	This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.
void	setPosition(double delay, double position, TrcEvent completionEvent, double timeout)	This method sets the servo position.
void	setPosition(double position, TrcEvent completionEvent, double timeout)	This method sets the servo position.
void	setPosition(String owner, double delay, double position, double stepRate, TrcEvent completionEvent)	This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.
void	setPosition(String owner, double delay, double position, TrcEvent completionEvent, double timeout)	This method sets the servo position.
void	setPosPresets(double tolerance, double... presets)	This method sets an array of preset positions for the motor.
void	setPower(double power)	This method speed controls the servo with stepping.
void	setPower(double delay, double power)	This method speed controls the servo with stepping.
void	setPower(double power, double minPos, double maxPos)	This method speed controls the servo with stepping.
void	setPower(double delay, double power, double minPos, double maxPos)	This method speed controls the servo with stepping.
void	setPower(String owner, double delay, double power)	This method speed controls the servo with stepping.
void	setPower(String owner, double delay, double power, double minPos, double maxPos)	This method speed controls the servo with stepping.
void	setPresetPosition(String owner, double delay, int presetIndex, TrcEvent event, double timeout)	This method sets the servo to the specified preset position.
private void	setTaskEnabled(boolean enabled)	This method enables/disables the enhanced servo task for performing step rate speed control or zero calibration.
private void	stopTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)	This method is called when the competition mode is about to end so it will stop the servo if necessary.
double	toLogicalPosition(double physicalPosition)	This method is called to convert a physical position to a logical position.
double	toPhysicalPosition(double logicalPosition)	This method is called to convert a logical position to a physical position.
String	toString()	This method returns the instance name.

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

Field Details

DEF_LOGICAL_MIN

private static final double DEF_LOGICAL_MIN

See Also:

• Constant Field Values

DEF_LOGICAL_MAX

private static final double DEF_LOGICAL_MAX

See Also:

• Constant Field Values

DEF_PHYSICAL_MIN

private static final double DEF_PHYSICAL_MIN

See Also:

• Constant Field Values

DEF_PHYSICAL_MAX

private static final double DEF_PHYSICAL_MAX

See Also:

• Constant Field Values

servoSetPosElapsedTimer

protected static TrcElapsedTimer servoSetPosElapsedTimer

followers

private final ArrayList<TrcServo> followers

actionParams

private final TrcServo.ActionParams actionParams

tracer

public final TrcDbgTrace tracer

instanceName

private final String instanceName

servoParams

private final TrcServo.Params servoParams

timer

private final TrcTimer timer

servoTaskObj

private final TrcTaskMgr.TaskObject servoTaskObj

posPresets

private TrcPresets posPresets

currPower

private double currPower

prevLogicalPos

private Double prevLogicalPos

Constructor Details

TrcServo

public TrcServo(String instanceName,
 TrcServo.Params params)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name of the servo.

params - specifies the parameters of the servo.

TrcServo

public TrcServo(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name of the servo.

Method Details

setInverted

public abstract void setInverted(boolean inverted)

This method inverts the servo direction.

Parameters:

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

isInverted

public abstract boolean isInverted()

This method checks if the servo direction is inverted.

Returns:

true if the servo direction is inverted, false otherwise.

setLogicalPosition

public abstract void setLogicalPosition(double position)

This method sets the logical position of the servo.

Parameters:

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

getLogicalPosition

public abstract double getLogicalPosition()

This method returns the logical position of the servo. In general, servo do not provide real time position feedback. Therefore, it will return the position set by the last setLogicalPosition call.

Returns:

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

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

setLogicalPosRange

public void setLogicalPosRange(double logicalMin,
 double logicalMax)

This method sets the logical range of the servo motor. This is typically used to limit the logical range of the servo to less than the 0.0 to 1.0 range. For example, one may limit the logical range to 0.2 to 0.8.

Parameters:

logicalMin - specifies the minimum value of the logical range.

logicalMax - specifies the maximum value of the logical range.

setPhysicalPosRange

public void setPhysicalPosRange(double physicalMin,
 double physicalMax)

This method sets the physical range of the servo motor. This is typically used to set a 180-degree servo to have a range of 0.0 to 180.0 instead of the logical range of 0.0 to 1.0. By default physical range is set to the range of 0.0 to 1.0, same as logical range. The physical range is used for map physical position units to logical position unit between 0.0 to 1.0.

Parameters:

physicalMin - specifies the minimum value of the physical range.

physicalMax - specifies the maximum value of the physical range.

setMaxStepRate

public void 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).

toLogicalPosition

public double toLogicalPosition(double physicalPosition)

This method is called to convert a physical position to a logical position. It will make sure the physical position is within the physical range and scale it to the logical range.

Parameters:

physicalPosition - specifies the physical position to be converted

Returns:

converted logical position.

toPhysicalPosition

public double toPhysicalPosition(double logicalPosition)

This method is called to convert a logical position to a physical position. It will make sure the logical position is within the logical range and scale it to the physical range. Note: this method is only callable by classes extending this class.

Parameters:

logicalPosition - specifies the logical position to be converted.

Returns:

converted physical position.

addFollower

private boolean addFollower(TrcServo followingServo)

This method adds a following servo to the followers list.

Parameters:

followingServo - specifies the following servo.

Returns:

true if the servo is added successfully, false if it is already in the list.

follow

public void follow(TrcServo servo)

This method sets this servo to follow the specified servo.

Parameters:

servo - specifies the other servo to follow.

finish

private void finish(String owner,
 boolean canceled)

This method finishes previous servo operation if applicable.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

canceled - specifies true if the operation was canceled.

cancel

public void cancel(String owner)

This method cancels previous servo operation if applicable.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

cancel

public void cancel()

This method cancels previous servo operation if applicable.

getPosition

public double getPosition()

This method returns the physical position value of the servo. Generally, servo do not provide real time position feedback. Therefore, it will only return the position set by the last setPosition call.

Returns:

physical position of the servo, could be in degrees if setPhysicalPosRange is called to set the range in degrees.

performSetPosition

private void performSetPosition(Object context)

This method performs the setPosition action.

Parameters:

context - not used.

setPosition

public void setPosition(String owner,
 double delay,
 double position,
 TrcEvent completionEvent,
 double timeout)

This method sets the servo position. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

delay - specifies the delay in seconds before setting the position of the servo, can be zero if no delay.

position - specifies the physical position of the servo motor. This value may be in degrees if setPhysicalPosRange is called with the degree range.

completionEvent - specifies an event object to signal when the timeout event has expired.

timeout - specifies a maximum time value the operation should be completed in seconds.

setPosition

public void setPosition(double delay,
 double position,
 TrcEvent completionEvent,
 double timeout)

This method sets the servo position. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

Parameters:

delay - specifies the delay in seconds before setting the position of the servo, can be zero if no delay.

position - specifies the physical position of the servo motor. This value may be in degrees if setPhysicalPosRange is called with the degree range.

completionEvent - specifies an event object to signal when the timeout event has expired.

timeout - specifies a maximum time value the operation should be completed in seconds.

setPosition

public void setPosition(double position,
 TrcEvent completionEvent,
 double timeout)

This method sets the servo position. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

Parameters:

position - specifies the physical position of the servo motor. This value may be in degrees if setPhysicalPosRange is called with the degree range.

completionEvent - specifies an event object to signal when the timeout event has expired.

timeout - specifies a maximum time value the operation should be completed in seconds.

setPosition

public void setPosition(double position)

This method sets the servo position. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

Parameters:

position - specifies the physical position of the servo motor. This value may be in degrees if setPhysicalPosRange is called with the degree range.

performSetPositionWithStepRate

private void performSetPositionWithStepRate(Object context)

This method performs the setPositionWithStepRate action.

Parameters:

context - not used.

setPosition

public void setPosition(String owner,
 double delay,
 double position,
 double stepRate,
 TrcEvent completionEvent)

This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

delay - specifies the delay in seconds before setting the position of the servo, can be zero if no delay.

position - specifies the target position.

stepRate - specifies the stepping rate to get there (physicalPos/sec).

completionEvent - specifies an event object to signal when the servo reaches the position..

setPosition

public void setPosition(double delay,
 double position,
 double stepRate,
 TrcEvent completionEvent)

This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.

Parameters:

delay - specifies the delay in seconds before setting the position of the servo, can be zero if no delay.

position - specifies the target position.

stepRate - specifies the stepping rate to get there (physicalPos/sec).

completionEvent - specifies an event object to signal when the servo reaches the position..

setPosition

public void setPosition(double position,
 double stepRate,
 TrcEvent completionEvent)

This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.

Parameters:

position - specifies the target position.

stepRate - specifies the stepping rate to get there (physicalPos/sec).

completionEvent - specifies an event object to signal when the servo reaches the position..

setPosition

public void setPosition(double position,
 double stepRate)

This method sets the servo to the specifies position but with the specified step rate in effect controlling the speed to get there.

Parameters:

position - specifies the target position.

stepRate - specifies the stepping rate to get there (physicalPos/sec).

performSetPower

private void performSetPower(Object context)

This method performs the setPower action.

Parameters:

context - not used.

setPower

public void setPower(String owner,
 double delay,
 double power,
 double minPos,
 double maxPos)

This method speed controls the servo with stepping.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

delay - specifies the delay in seconds before setting the power of the servo, can be zero if no delay.

power - specifies how fast the servo will turn.

minPos - specifies the minimum position the servo can move to.

maxPos - specifies the maximum position the servo can move to.

setPower

public void setPower(String owner,
 double delay,
 double power)

This method speed controls the servo with stepping.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

delay - specifies the delay in seconds before setting the power of the servo, can be zero if no delay.

power - specifies how fast the servo will turn.

setPower

public void setPower(double delay,
 double power,
 double minPos,
 double maxPos)

This method speed controls the servo with stepping.

Parameters:

delay - specifies the delay in seconds before setting the power of the servo, can be zero if no delay.

power - specifies how fast the servo will turn.

minPos - specifies the minimum position the servo can move to.

maxPos - specifies the maximum position the servo can move to.

setPower

public void setPower(double delay,
 double power)

This method speed controls the servo with stepping.

Parameters:

delay - specifies the delay in seconds before setting the power of the servo, can be zero if no delay.

power - specifies how fast the servo will turn.

setPower

public void setPower(double power,
 double minPos,
 double maxPos)

This method speed controls the servo with stepping.

Parameters:

power - specifies how fast the servo will turn.

minPos - specifies the minimum position the servo can move to.

maxPos - specifies the maximum position the servo can move to.

setPower

public void setPower(double power)

This method speed controls the servo with stepping.

Parameters:

power - specifies how fast the servo will turn.

getPower

public double getPower()

This method returns the last set power value.

Returns:

last power set to the motor.

setTaskEnabled

private void setTaskEnabled(boolean enabled)

This method enables/disables the enhanced servo task for performing step rate speed control or zero calibration.

Parameters:

enabled - specifies true to enable task, false to disable.

isTaskEnabled

private boolean isTaskEnabled()

This method checks if the task is enabled.

Returns:

true if task is enabled, false otherwise.

servoTask

private void servoTask(TrcTaskMgr.TaskType taskType,
 TrcRobot.RunMode runMode,
 boolean slowPeriodicLoop)

This method is called periodically to check whether the servo has reached target. If not, it will calculate the next position to set the servo to according to its step rate.

Parameters:

taskType - specifies the type of task being run.

runMode - specifies the competition mode that is running. (e.g. Autonomous, TeleOp, Test).

slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

stopTask

private void stopTask(TrcTaskMgr.TaskType taskType,
 TrcRobot.RunMode runMode,
 boolean slowPeriodicLoop)

This method is called when the competition mode is about to end so it will stop the servo if necessary.

Parameters:

taskType - specifies the type of task being run.

runMode - specifies the competition mode that is running. (e.g. Autonomous, TeleOp, Test).

slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

setPosPresets

public void setPosPresets(double tolerance,
 double... presets)

This method sets an array of preset positions for the motor.

Parameters:

tolerance - specifies the preset tolerance.

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

setPresetPosition

public void setPresetPosition(String owner,
 double delay,
 int presetIndex,
 TrcEvent event,
 double timeout)

This method sets the servo to the specified preset position.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the subsystem.

delay - specifies delay time in seconds before setting position, can be zero if no delay.

presetIndex - specifies the index to the preset position array.

event - specifies the event to signal when done, can be null if not provided.

timeout - specifies a timeout value in seconds. If the operation is not completed without the specified timeout, the operation will be canceled and the event will be signaled. If no timeout is specified, it should be set to zero.

setNextPresetPosition

private void setNextPresetPosition(String owner,
 boolean presetUp)

This method sets the actuator to the next preset position up or down from the current position.

Parameters:

owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the actuator movement is coompleted, can be null if no ownership is required.

presetUp - specifies true to move to next preset up, false to move to next preset down.

presetPositionUp

public void presetPositionUp(String owner)

This method sets the actuator to the next preset position up from the current position.

Parameters:

owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the actuator movement is completed, can be null if no ownership is required.

presetPositionDown

public void presetPositionDown(String owner)

This method sets the actuator to the next preset position down from the current position.

Parameters:

owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the actuator movement is coompleted, can be null if no ownership is required.

setElapsedTimerEnabled

public static void setElapsedTimerEnabled(boolean enabled)

This method enables/disables the elapsed timers for performance monitoring.

Parameters:

enabled - specifies true to enable elapsed timers, false to disable.

printElapsedTime

public static void printElapsedTime(TrcDbgTrace msgTracer)

This method prints the elapsed time info.

Parameters:

msgTracer - specifies the tracer to be used to print the info.