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

NextServo

open class NextServo(initializer: () -> ServoImplEx, val cacheTolerance: Double = 0.01)

Lightweight wrapper around a ServoImplEx that provides a more user-friendly interface for controlling servo position and PWM range. controls how sensitive the position caching delegate is to small changes.

Example:

val servo = NextServo("armServo")
servo.position = 0.5
servo.setPwmRange(500.0, 2500.0)

Parameters

initializer

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

cacheTolerance

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

Inheritors

NextFeedbackServo

RGBHeadlight

Constructors

NextServo

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

@JvmOverloads

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

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

@JvmOverloads

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

Properties

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.