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wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/BooleanTopic.h>
+#include <networktables/IntegerTopic.h>
+#include <units/angle.h>
+#include <units/time.h>
+
+#include "frc/ExpansionHub.h"
+
+namespace frc {
+
+/** This class controls a specific servo hooked up to an ExpansionHub. */
+class ExpansionHubServo {
+ public:
+  /**
+   * Constructs a servo at the requested channel on a specific USB port.
+   *
+   * @param usbId The USB port ID the hub is connected to
+   * @param channel The servo channel
+   */
+  ExpansionHubServo(int usbId, int channel);
+  ~ExpansionHubServo() noexcept;
+
+  /**
+   * Set the servo position.
+   *
+   * Servo values range from 0.0 to 1.0 corresponding to the range of full left
+   * to full right.
+   *
+   * @param value Position from 0.0 to 1.0.
+   */
+  void Set(double value);
+
+  /**
+   * Sets the servo angle
+   *
+   * Servo angles range from 0 to 180 degrees. Use Set() with your own scaler
+   * for other angle ranges.
+   *
+   * @param angle Position in angle units. Will be scaled between 0 and 180
+   * degrees
+   */
+  void SetAngle(units::degree_t angle);
+
+  /**
+   * Sets the raw pulse width output on the servo.
+   *
+   * @param pulseWidth Pulse width
+   */
+  void SetPulseWidth(units::microsecond_t pulseWidth);
+
+  /**
+   * Sets if the servo output is enabled or not. Defaults to false.
+   *
+   * @param enabled True to enable, false to disable
+   */
+  void SetEnabled(bool enabled);
+
+  /**
+   * Sets the frame period for the servo. Defaults to 20ms.
+   *
+   * @param framePeriod The frame period
+   */
+  void SetFramePeriod(units::microsecond_t framePeriod);
+
+  /**
+   * Gets if the underlying ExpansionHub is connected.
+   *
+   * @return True if hub is connected, otherwise false
+   */
+  bool IsHubConnected() const { return m_hub.IsHubConnected(); }
+
+  /**
+   * Sets the angle range for the setAngle call.
+   * By default, this is 0 to 180 degrees.
+   *
+   * Maximum angle must be greater than minimum angle.
+   *
+   * @param minAngle Minimum angle
+   * @param maxAngle Maximum angle
+   */
+  void SetAngleRange(units::degree_t minAngle, units::degree_t maxAngle);
+
+  /**
+   * Sets the PWM range for the servo.
+   * By default, this is 600 to 2400 microseconds.
+   *
+   * Maximum must be greater than minimum.
+   *
+   * @param minPwm Minimum PWM
+   * @param maxPwm Maximum PWM
+   */
+  void SetPWMRange(units::microsecond_t minPwm, units::microsecond_t maxPwm);
+
+  /**
+   * Sets whether the servo is reversed.
+   *
+   * This will reverse both Set() and SetAngle().
+   *
+   * @param reversed True to reverse, false for normal
+   */
+  void SetReversed(bool reversed);
+
+  /**
+   * Enables or disables continuous rotation mode.
+   *
+   * In continuous rotation mode, the servo will interpret
+   * Set() commands to between -1.0 and 1.0, instead of 0.0 to 1.0.
+   *
+   * @param enable True to enable continuous rotation mode, false to disable
+   */
+  void SetContinousRotationMode(bool enable);
+
+ private:
+  units::microsecond_t GetFullRangeScaleFactor();
+  units::degree_t GetServoAngleRange();
+
+  ExpansionHub m_hub;
+  int m_channel;
+
+  units::degree_t m_maxServoAngle = 180.0_deg;
+  units::degree_t m_minServoAngle = 0.0_deg;
+
+  units::microsecond_t m_minPwm = 600_us;
+  units::microsecond_t m_maxPwm = 2400_us;
+
+  bool m_reversed = false;
+  bool m_continousMode = false;
+
+  nt::IntegerPublisher m_pulseWidthPublisher;
+  nt::IntegerPublisher m_framePeriodPublisher;
+  nt::BooleanPublisher m_enabledPublisher;
+};
+}  // namespace frc