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

NextFeedbackCRServo

class NextFeedbackCRServo(initializer: () -> CRServoImplEx, feedbackName: String, cacheTolerance: Double = 0.01) : NextCRServo

A NextCRServo paired with an analog feedback input for reading the servo's actual angle. Useful for continuous-rotation servos with feedback wires (e.g. Axon CR) where you want to know how far the servo has rotated.

Inherits everything from NextCRServo — power, direction, reverse(), enable(), disable() — and adds angle for reading the physical angle in radians from the feedback input.

Parameters

initializer

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

feedbackName

Hardware map name of the analog input.

cacheTolerance

Tolerance for the NextCRServo power caching delegate.

Constructors

NextFeedbackCRServo

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

@JvmOverloads

constructor(servoName: String, feedbackName: String, cacheTolerance: Double = 0.01)

Constructor to create a NextFeedbackCRServo using a servo name.

@JvmOverloads

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

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

Properties

angle

val angle: Angle

Actual angle of the servo, reported from the analog feedback input.

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.