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

NextFeedbackServo

class NextFeedbackServo(initializer: () -> ServoImplEx, feedbackName: String, cacheTolerance: Double = 0.01) : NextServo

A NextServo paired with an analog feedback input for reading the servo's actual angle. Useful for servos with a feedback wire (e.g. Axon).

Inherits everything from NextServo — position, pwmRange, enable(), disable() — and adds angle for reading the physical angle in radians from the feedback input.

Example:

val arm = NextFeedbackServo("armServo", "armEncoder")
arm.position = 0.5
val angle = arm.angle

Parameters

initializer

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

feedbackName

Hardware map name of the analog input.

cacheTolerance

Tolerance for the NextServo position caching delegate.

Constructors

NextFeedbackServo

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

@JvmOverloads

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

Constructor to create a NextFeedbackServo using a servo name.

@JvmOverloads

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

Constructor to create a NextFeedbackServo 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

position

var position: Double

The commanded servo position in the range [0.0, 1.0].

pwmRange

var pwmRange: PwmControl.PwmRange

Provides access to the servo's PWM range configuration.

Functions

disable

fun disable()

Disables PWM output for the underlying servo.

enable

fun enable()

Enables PWM output for the underlying servo.

setPwmRange

fun setPwmRange(lower: Double, upper: Double)

Sets the PWM range of the associated servo.