NextFTC Hardware/dev.nextftc.hardware.actuators/NextCRServo

NextCRServo

open class NextCRServo(initializer: () -> CRServoImplEx, val cacheTolerance: Double = 0.01)

Lightweight wrapper around a CRServoImplEx that provides a more user-friendly interface for controlling continuous-rotation servo power and direction.

Example:

val crServo = NextCRServo("intakeServo")
crServo.power = 0.75
crServo.direction = DcMotorSimple.Direction.REVERSE

Parameters

initializer

A function returning the backing CRServoImplEx. It will be invoked lazily the first time the servo is accessed.

cacheTolerance

Tolerance used by the Caching delegate for power updates; defaults to 0.01.

Inheritors

NextFeedbackCRServo

Constructors

NextCRServo

constructor(initializer: () -> CRServoImplEx, cacheTolerance: Double = 0.01)

@JvmOverloads

constructor(module: LynxModule, port: Int, cacheTolerance: Double = 0.01)

Constructor to create a NextCRServo using a LynxModule and port number.

@JvmOverloads

constructor(name: String, cacheTolerance: Double = 0.01)

Properties

cacheTolerance

val cacheTolerance: Double

direction

var direction: DcMotorSimple.Direction

Direction of the servo. Setting this to DcMotorSimple.Direction.REVERSE causes positive power values to spin the servo the opposite way, and vice versa.

power

var power: Double

Power applied to the servo, in the range -1.0, 1.0.

Functions

disable

fun disable()

Disables the PWM output of the associated servo.

enable

fun enable()

Enables the PWM output of the associated servo.

reverse

fun reverse(): NextCRServo

Sets the servo's direction to DcMotorSimple.Direction.REVERSE, causing positive power values to spin the servo the opposite way.