com.qualcomm.robotcore.hardware

Interface PwmControl

All Known Implementing Classes:

CRServoImplEx, ServoImplEx

public interface PwmControl

For hardware devices which are manipulated using a pulse width modulation (PWM) signal, the PwmControl interface provides control of the width of pulses used and whether the PWM is enabled or disabled.

PWM is commonly used to control servos. PwmControl is thus found as a second interface on servo objects whose primary interface is Servo or CRServo when the underlying servo controller hardware supports this fine-grained control (not all servo controllers provide such control). To access the PwmControl interface, cast your Servo or CRServo object to PwmControl; however, it is usually prudent to first test whether the cast will succeed by testing using

instanceof

.

See Also:

DcMotorEx, Pulse-width modulation

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	PwmControl.PwmRange PwmRange instances are used to specify the upper and lower pulse widths and overall framing rate for a servo.

Method Summary

Modifier and Type	Method and Description
PwmControl.PwmRange	getPwmRange() Returns the current PWM range limits for the servo
boolean	isPwmEnabled() Returns whether the PWM is energized for this particular servo
void	setPwmDisable() Individually denergizes the PWM for this particular servo
void	setPwmEnable() Individually energizes the PWM for this particular servo.
void	setPwmRange(PwmControl.PwmRange range) Sets the PWM range limits for the servo

Method Detail

setPwmRange

void setPwmRange(PwmControl.PwmRange range)

Sets the PWM range limits for the servo

Parameters:

range - the new PWM range limits for the servo

See Also:

getPwmRange()

getPwmRange

PwmControl.PwmRange getPwmRange()

Returns the current PWM range limits for the servo

Returns:

the current PWM range limits for the servo

See Also:

setPwmRange(PwmRange)

setPwmEnable

void setPwmEnable()

Individually energizes the PWM for this particular servo.

See Also:

setPwmDisable(), isPwmEnabled()

setPwmDisable

void setPwmDisable()

Individually denergizes the PWM for this particular servo

See Also:

setPwmEnable()

isPwmEnabled

boolean isPwmEnabled()

Returns whether the PWM is energized for this particular servo

See Also:

setPwmEnable()