com.qualcomm.robotcore.hardware

Interface Servo

All Superinterfaces:

HardwareDevice

All Known Implementing Classes:

ServoImpl, ServoImplEx

public interface Servo
extends HardwareDevice

Instances of Servo interface provide access to servo hardware devices.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Servo.Direction Servos can be configured to internally reverse the values to which their positioning power is set.

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static double	MAX_POSITION The maximum allowable position to which a servo can be moved
static double	MIN_POSITION The minimum allowable position to which a servo can be moved

Method Summary

Modifier and Type	Method and Description
ServoController	getController() Returns the underlying servo controller on which this servo is situated.
Servo.Direction	getDirection() Returns the current logical direction in which this servo is set as operating.
int	getPortNumber() Returns the port number on the underlying servo controller on which this motor is situated.
double	getPosition() Returns the position to which the servo was last commanded to move.
void	scaleRange(double min, double max) Scales the available movement range of the servo to be a subset of its maximum range.
void	setDirection(Servo.Direction direction) Sets the logical direction in which this servo operates.
void	setPosition(double position) Sets the current position of the servo, expressed as a fraction of its available range.

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Field Detail

MIN_POSITION

static final double MIN_POSITION

The minimum allowable position to which a servo can be moved

See Also:

setPosition(double), Constant Field Values

MAX_POSITION

static final double MAX_POSITION

The maximum allowable position to which a servo can be moved

See Also:

setPosition(double), Constant Field Values

Method Detail

getController

ServoController getController()

Returns the underlying servo controller on which this servo is situated.

Returns:

the underlying servo controller on which this servo is situated.

See Also:

getPortNumber()

getPortNumber

int getPortNumber()

Returns the port number on the underlying servo controller on which this motor is situated.

Returns:

the port number on the underlying servo controller on which this motor is situated.

See Also:

getController()

setDirection

void setDirection(Servo.Direction direction)

Sets the logical direction in which this servo operates.

Parameters:

direction - the direction to set for this servo

See Also:

getDirection(), Servo.Direction

getDirection

Servo.Direction getDirection()

Returns the current logical direction in which this servo is set as operating.

Returns:

the current logical direction in which this servo is set as operating.

See Also:

setDirection(Direction)

setPosition

void setPosition(double position)

Sets the current position of the servo, expressed as a fraction of its available range. If PWM power is enabled for the servo, the servo will attempt to move to the indicated position.

Parameters:

position - the position to which the servo should move, a value in the range [0.0, 1.0]

See Also:

ServoController.pwmEnable(), getPosition()

getPosition

double getPosition()

Returns the position to which the servo was last commanded to move. Note that this method does NOT read a position from the servo through any electrical means, as no such electrical mechanism is, generally, available.

Returns:

the position to which the servo was last commanded to move, or Double.NaN if no such position is known

See Also:

setPosition(double), Double.NaN, Double.isNaN()

scaleRange

void scaleRange(double min,
                double max)

Scales the available movement range of the servo to be a subset of its maximum range. Subsequent positioning calls will operate within that subset range. This is useful if your servo has only a limited useful range of movement due to the physical hardware that it is manipulating (as is often the case) but you don't want to have to manually scale and adjust the input to setPosition() each time.

For example, if scaleRange(0.2, 0.8) is set; then servo positions will be scaled to fit in that range:
setPosition(0.0) scales to 0.2
setPosition(1.0) scales to 0.8
setPosition(0.5) scales to 0.5
setPosition(0.25) scales to 0.35
setPosition(0.75) scales to 0.65

Note the parameters passed here are relative to the underlying full range of motion of the servo, not its currently scaled range, if any. Thus, scaleRange(0.0, 1.0) will reset the servo to its full range of movement.

Parameters:

min - the lower limit of the servo movement range, a value in the interval [0.0, 1.0]

max - the upper limit of the servo movement range, a value in the interval [0.0, 1.0]

See Also:

setPosition(double)