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[wpilib] Remove Servo Classes (#8270)

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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
2025-10-02 22:39:55 -07:00
committed by GitHub
parent c46b54a523
commit e369c721ca
8 changed files with 0 additions and 553 deletions
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179
wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
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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.
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.PWM.OutputPeriod;
/**
* Standard hobby style servo.
*
* <p>The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
* in the FIRST Kit of Parts in 2008.
*/
public class Servo implements Sendable, AutoCloseable {
private static final double kMaxServoAngle = 180.0;
private static final double kMinServoAngle = 0.0;
private static final int kDefaultMaxServoPWM = 2400;
private static final int kDefaultMinServoPWM = 600;
private final PWM m_pwm;
private SimDevice m_simDevice;
private SimDouble m_simPosition;
private static final int m_minPwm = kDefaultMinServoPWM;
private static final int m_maxPwm = kDefaultMaxServoPWM;
/**
* Constructor.
*
* <p>By default, {@value #kDefaultMaxServoPWM} ms is used as the max PWM value and {@value
* #kDefaultMinServoPWM} ms is used as the minPWM value.
*
* @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
* the MXP port
*/
@SuppressWarnings("this-escape")
public Servo(final int channel) {
m_pwm = new PWM(channel, false);
SendableRegistry.add(this, "Servo", channel);
m_pwm.setOutputPeriod(OutputPeriod.k20Ms);
HAL.reportUsage("IO", channel, "Servo");
m_simDevice = SimDevice.create("Servo", channel);
if (m_simDevice != null) {
m_simPosition = m_simDevice.createDouble("Position", Direction.kOutput, 0.0);
m_pwm.setSimDevice(m_simDevice);
}
}
/** Free the resource associated with the PWM channel and set the value to 0. */
@Override
public void close() {
SendableRegistry.remove(this);
m_pwm.close();
if (m_simDevice != null) {
m_simDevice.close();
m_simDevice = null;
m_simPosition = null;
}
}
/**
* Set the servo position.
*
* <p>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.
*/
public void set(double value) {
value = Math.clamp(value, 0.0, 1.0);
if (m_simPosition != null) {
m_simPosition.set(value);
}
int rawValue = (int) ((value * getFullRangeScaleFactor()) + m_minPwm);
m_pwm.setPulseTimeMicroseconds(rawValue);
}
/**
* Get the servo position.
*
* <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
* This returns the commanded position, not the position that the servo is actually at, as the
* servo does not report its own position.
*
* @return Position from 0.0 to 1.0.
*/
public double get() {
int rawValue = m_pwm.getPulseTimeMicroseconds();
if (rawValue < m_minPwm) {
return 0.0;
} else if (rawValue > m_maxPwm) {
return 1.0;
}
return (rawValue - m_minPwm) / getFullRangeScaleFactor();
}
/**
* Set the servo angle.
*
* <p>The angles are based on the HS-322HD Servo, and have a range of 0 to 180 degrees.
*
* <p>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.
*/
public void setAngle(double degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
} else if (degrees > kMaxServoAngle) {
degrees = kMaxServoAngle;
}
set((degrees - kMinServoAngle) / getServoAngleRange());
}
/**
* Get the servo angle.
*
* <p>This returns the commanded angle, not the angle that the servo is actually at, as the servo
* does not report its own angle.
*
* @return The angle in degrees to which the servo is set.
*/
public double getAngle() {
return get() * getServoAngleRange() + kMinServoAngle;
}
/**
* Gets the backing PWM handle.
*
* @return The pwm handle.
*/
public int getPwmHandle() {
return m_pwm.getHandle();
}
/**
* Gets the PWM channel number.
*
* @return The channel number.
*/
public int getChannel() {
return m_pwm.getChannel();
}
private double getFullRangeScaleFactor() {
return m_maxPwm - m_minPwm;
}
private double getServoAngleRange() {
return kMaxServoAngle - kMinServoAngle;
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Servo");
builder.addDoubleProperty("Value", this::get, this::set);
}
}

50
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ServoSim.java
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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.
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.Servo;
/** Class to control a simulated Servo. */
public class ServoSim {
private final SimDouble m_simPosition;
/**
* Constructor.
*
* @param servo The device to simulate
*/
public ServoSim(Servo servo) {
this(servo.getChannel());
}
/**
* Constructor.
*
* @param channel The channel the servo is attached to.
*/
public ServoSim(int channel) {
SimDeviceSim simDevice = new SimDeviceSim("Servo", channel);
m_simPosition = simDevice.getDouble("Position");
}
/**
* Gets the position set.
*
* @return Position
*/
public double getPosition() {
return m_simPosition.get();
}
/**
* Gets the angle set.
*
* @return Angle
*/
public double getAngle() {
return getPosition() * 180.0;
}
}