NextFTC Hardware/dev.nextftc.hardware.actuators

Package-level declarations

Output device wrappers: NextMotor (throttle, voltage, PID position, and PID+feedforward velocity control modes), NextServo/NextCRServo and their feedback-enabled variants (NextFeedbackServo/NextFeedbackCRServo), and RGBHeadlight for the goBILDA PWM RGB headlight.

Types

MotorPositionConstants

data class MotorPositionConstants(pidConstants: PIDCoefficients = PIDCoefficients(0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0), var kG: Double = 0.0, var kCos: Double = 0.0, var kCosRatio: Double = 0.0)

Tuning constants for position control.

MotorVelocityConstants

data class MotorVelocityConstants(pidConstants: PIDCoefficients = PIDCoefficients(0.0, 0.0, 0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0))

Tuning constants for velocity control.

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.

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.

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).

NextMotor

class NextMotor(initializer: () -> DcMotorImplEx, var distancePerCount: Distance = 1.0.inches, cacheTolerance: Double = 0.01)

Comprehensive wrapper around a DcMotorImplEx supporting multiple control modes.

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.

RGBHeadlight

class RGBHeadlight(name: String, cacheTolerance: Double = 0.01) : NextServo

Wrapper for the goBILDA PWM RGB Headlight Module.