Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
2026-06-27 02:01:42 +00:00 · 2018-07-20 00:03:45 -07:00
parent 31ced30c1e
commit d89b7dd412
728 changed files with 1876 additions and 1851 deletions
--- a/wpilibc/src/main/native/include/frc/Servo.h
+++ b/wpilibc/src/main/native/include/frc/Servo.h
@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/SafePWM.h"
+#include "frc/SpeedController.h"
+
+namespace frc {
+
+/**
+ * Standard hobby style servo.
+ *
+ * The range parameters default to the appropriate values for the Hitec HS-322HD
+ * servo provided in the FIRST Kit of Parts in 2008.
+ */
+class Servo : public SafePWM {
+ public:
+  /**
+   * @param channel The PWM channel to which the servo is attached. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit Servo(int channel);
+
+  /**
+   * 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);
+
+  /**
+   * Set the servo to offline.
+   *
+   * Set the servo raw value to 0 (undriven)
+   */
+  void SetOffline();
+
+  /**
+   * Get the servo position.
+   *
+   * Servo values range from 0.0 to 1.0 corresponding to the range of full left
+   * to full right.
+   *
+   * @return Position from 0.0 to 1.0.
+   */
+  double Get() const;
+
+  /**
+   * Set the servo angle.
+   *
+   * Assume that the servo angle is linear with respect to the PWM value (big
+   * assumption, need to test).
+   *
+   * Servo angles that are out of the supported range of the servo simply
+   * "saturate" in that direction. In other words, if the servo has a range of
+   * (X degrees to Y degrees) than angles of less than X result in an angle of
+   * X being set and angles of more than Y degrees result in an angle of Y being
+   * set.
+   *
+   * @param degrees The angle in degrees to set the servo.
+   */
+  void SetAngle(double angle);
+
+  /**
+   * Get the servo angle.
+   *
+   * Assume that the servo angle is linear with respect to the PWM value (big
+   * assumption, need to test).
+   *
+   * @return The angle in degrees to which the servo is set.
+   */
+  double GetAngle() const;
+
+  /**
+   * Get the maximum angle of the servo.
+   *
+   * @return The maximum angle of the servo in degrees.
+   */
+  double GetMaxAngle() const;
+
+  /**
+   * Get the minimum angle of the servo.
+   *
+   * @return The minimum angle of the servo in degrees.
+   */
+  double GetMinAngle() const;
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  double GetServoAngleRange() const;
+
+  static constexpr double kMaxServoAngle = 180.0;
+  static constexpr double kMinServoAngle = 0.0;
+
+  static constexpr double kDefaultMaxServoPWM = 2.4;
+  static constexpr double kDefaultMinServoPWM = .6;
+};
+
+}  // namespace frc