com.qualcomm.robotcore.hardware

Class ServoImpl

java.lang.Object

com.qualcomm.robotcore.hardware.ServoImpl

All Implemented Interfaces:

HardwareDevice, Servo

Direct Known Subclasses:

ServoImplEx

public class ServoImpl
extends java.lang.Object
implements Servo

ServoImpl provides an implementation of the Servo interface that operates on top of an instance of the ServoController interface.

Nested Class Summary

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

Servo.Direction

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected ServoController	controller
protected Servo.Direction	direction
protected double	limitPositionMax
protected double	limitPositionMin
protected int	portNumber

Fields inherited from interface com.qualcomm.robotcore.hardware.Servo

MAX_POSITION, MIN_POSITION

Constructor Summary

Constructors

Constructor and Description
ServoImpl(ServoController controller, int portNumber) Constructor
ServoImpl(ServoController controller, int portNumber, Servo.Direction direction) COnstructor

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
ServoController	getController() Get Servo Controller
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
Servo.Direction	getDirection() Get the direction
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
int	getPortNumber() Get Channel
double	getPosition() Returns the position to which the servo was last commanded, or Double.NaN if that is unavailable.
int	getVersion() Version
protected void	internalSetPosition(double position)
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	scaleRange(double min, double max) Automatically scales the position of the servo.
void	setDirection(Servo.Direction direction) Set the direction
void	setPosition(double position) Commands the servo to move to a designated position.

Methods inherited from class java.lang.Object

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

Field Detail

controller

protected ServoController controller

portNumber

protected int portNumber

direction

protected Servo.Direction direction

limitPositionMin

protected double limitPositionMin

limitPositionMax

protected double limitPositionMax

Constructor Detail

ServoImpl

public ServoImpl(ServoController controller,
                 int portNumber)

Constructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

ServoImpl

public ServoImpl(ServoController controller,
                 int portNumber,
                 Servo.Direction direction)

COnstructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

direction - FORWARD for normal operation, REVERSE to reverse operation

Method Detail

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

getController

public ServoController getController()

Get Servo Controller

Specified by:

getController in interface Servo

Returns:

servo controller

See Also:

Servo.getPortNumber()

setDirection

public void setDirection(Servo.Direction direction)

Set the direction

Specified by:

setDirection in interface Servo

Parameters:

direction - direction

See Also:

Servo.getDirection(), Servo.Direction

getDirection

public Servo.Direction getDirection()

Get the direction

Specified by:

getDirection in interface Servo

Returns:

direction

See Also:

Servo.setDirection(Direction)

getPortNumber

public int getPortNumber()

Get Channel

Specified by:

getPortNumber in interface Servo

Returns:

channel

See Also:

Servo.getController()

setPosition

public void setPosition(double position)

Commands the servo to move to a designated position. This method initiates the movement; the servo will arrive at the commanded position at some later time.

Specified by:

setPosition in interface Servo

Parameters:

position - the commanded servo position. Should be in the range [0.0, 1.0].

See Also:

getPosition()

internalSetPosition

protected void internalSetPosition(double position)

getPosition

public double getPosition()

Returns the position to which the servo was last commanded, or Double.NaN if that is unavailable.

Specified by:

getPosition in interface Servo

Returns:

the last commanded position

See Also:

setPosition(double), Double.isNaN(double)

scaleRange

public void scaleRange(double min,
                       double max)

Automatically scales the position of the servo.

Specified by:

scaleRange in interface Servo

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:

Servo.setPosition(double)