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[wpilib] Remove Servo Classes (#8270)
SystemCore doesn't directly support Servos. It would be possible to still use a Servo Power Module, but those are fairly rare, and we should probably use a different class for that case, so users don't attempt to hook a servo directly up to systemcore. That will depend on what happens with the rules in 2027. Rev Servo Hubs are a current working replacement for systemcore users.
This commit is contained in:
Thad House
@@ -1,84 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Servo.h"
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#include <hal/UsageReporting.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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using namespace frc;
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Servo::Servo(int channel) : m_pwm(channel, false) {
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wpi::SendableRegistry::Add(this, "Servo", channel);
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// Assign defaults for period multiplier for the servo PWM control signal
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m_pwm.SetOutputPeriod(PWM::kOutputPeriod_20Ms);
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HAL_ReportUsage("IO", channel, "Servo");
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wpi::SendableRegistry::SetName(this, "Servo", channel);
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m_simDevice = hal::SimDevice{"Servo", channel};
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if (m_simDevice) {
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m_simPosition = m_simDevice.CreateDouble("Position", true, 0.0);
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m_pwm.SetSimDevice(m_simDevice);
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}
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}
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void Servo::Set(double value) {
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value = std::clamp(value, 0.0, 1.0);
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if (m_simPosition) {
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m_simPosition.Set(value);
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}
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units::microsecond_t rawValue =
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(value * GetFullRangeScaleFactor()) + m_minPwm;
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m_pwm.SetPulseTime(rawValue);
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}
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double Servo::Get() const {
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units::microsecond_t rawValue = m_pwm.GetPulseTime();
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if (rawValue < m_minPwm) {
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return 0.0;
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} else if (rawValue > m_maxPwm) {
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return 1.0;
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}
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return (rawValue - m_minPwm).to<double>() /
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GetFullRangeScaleFactor().to<double>();
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}
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void Servo::SetAngle(double degrees) {
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if (degrees < kMinServoAngle) {
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degrees = kMinServoAngle;
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} else if (degrees > kMaxServoAngle) {
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degrees = kMaxServoAngle;
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}
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Set((degrees - kMinServoAngle) / GetServoAngleRange());
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}
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double Servo::GetAngle() const {
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return Get() * GetServoAngleRange() + kMinServoAngle;
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}
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void Servo::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Servo");
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builder.AddDoubleProperty(
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"Value", [=, this] { return Get(); },
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[=, this](double value) { Set(value); });
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}
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double Servo::GetServoAngleRange() {
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return kMaxServoAngle - kMinServoAngle;
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}
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units::microsecond_t Servo::GetFullRangeScaleFactor() const {
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return m_maxPwm - m_minPwm;
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}
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int Servo::GetChannel() const {
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return m_pwm.GetChannel();
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}
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@@ -1,28 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/ServoSim.h"
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#include <hal/SimDevice.h>
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#include <units/length.h>
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#include "frc/simulation/SimDeviceSim.h"
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using namespace frc;
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using namespace frc::sim;
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ServoSim::ServoSim(const Servo& servo) : ServoSim(servo.GetChannel()) {}
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ServoSim::ServoSim(int channel) {
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frc::sim::SimDeviceSim deviceSim{"Servo", channel};
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m_simPosition = deviceSim.GetDouble("Position");
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}
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double ServoSim::GetPosition() const {
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return m_simPosition.Get();
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}
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double ServoSim::GetAngle() const {
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return GetPosition() * Servo::GetServoAngleRange() + Servo::kMinServoAngle;
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}
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@@ -1,112 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/angle.h>
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#include "frc/PWM.h"
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namespace frc {
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namespace sim {
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class ServoSim;
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} // namespace sim
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/**
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* Standard hobby style servo.
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*
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* The range parameters default to the appropriate values for the Hitec HS-322HD
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* servo provided in the FIRST Kit of Parts in 2008.
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*/
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class Servo : public wpi::Sendable, public wpi::SendableHelper<Servo> {
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public:
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friend class frc::sim::ServoSim;
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/**
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* Constructor.
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*
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* By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the
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* min PWM value.
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*
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* @param channel The PWM channel to which the servo is attached. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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explicit Servo(int channel);
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Servo(Servo&&) = default;
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Servo& operator=(Servo&&) = default;
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/**
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* Set the servo position.
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*
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* Servo values range from 0.0 to 1.0 corresponding to the range of full left
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* to full right.
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*
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* @param value Position from 0.0 to 1.0.
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*/
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void Set(double value);
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/**
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* Get the servo position.
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*
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* Servo values range from 0.0 to 1.0 corresponding to the range of full left
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* to full right. This returns the commanded position, not the position that
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* the servo is actually at, as the servo does not report its own position.
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*
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* @return Position from 0.0 to 1.0.
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*/
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double Get() const;
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/**
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* Set the servo angle.
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*
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* The angles are based on the HS-322HD Servo, and have a range of 0 to 180
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* degrees.
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*
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* Servo angles that are out of the supported range of the servo simply
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* "saturate" in that direction. In other words, if the servo has a range of
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* (X degrees to Y degrees) than angles of less than X result in an angle of
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* X being set and angles of more than Y degrees result in an angle of Y being
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* set.
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*
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* @param angle The angle in degrees to set the servo.
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*/
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void SetAngle(double angle);
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/**
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* Get the servo angle.
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*
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* This returns the commanded angle, not the angle that the servo is actually
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* at, as the servo does not report its own angle.
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*
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* @return The angle in degrees to which the servo is set.
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*/
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double GetAngle() const;
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int GetChannel() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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static double GetServoAngleRange();
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units::microsecond_t GetFullRangeScaleFactor() const;
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static constexpr double kMaxServoAngle = 180.0;
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static constexpr double kMinServoAngle = 0.0;
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static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms;
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static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms;
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units::millisecond_t m_maxPwm = kDefaultMaxServoPWM;
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units::millisecond_t m_minPwm = kDefaultMinServoPWM;
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hal::SimDevice m_simDevice;
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hal::SimDouble m_simPosition;
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PWM m_pwm;
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};
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} // namespace frc
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@@ -1,31 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/length.h>
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#include "frc/Servo.h"
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namespace frc {
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class Servo;
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namespace sim {
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class ServoSim {
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public:
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explicit ServoSim(const Servo& servo);
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explicit ServoSim(int channel);
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double GetPosition() const;
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double GetAngle() const;
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private:
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hal::SimDouble m_simPosition;
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};
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} // namespace sim
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} // namespace frc
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