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acb786a791
Most of the MotorSafety implementation was moved into the MotorSafety base class. SafePWM's inheritance of MotorSafety was moved into PWM to eliminate Java needing a helper class. In Java, a helper class for Sendable (SendableImpl) was added due to lack of multiple inheritance.
112 lines
3.0 KiB
C++
112 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "frc/PWM.h"
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#include "frc/SpeedController.h"
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namespace frc {
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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 PWM {
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public:
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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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* Set the servo to offline.
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*
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* Set the servo raw value to 0 (undriven)
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*/
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void SetOffline();
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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.
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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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* Assume that the servo angle is linear with respect to the PWM value (big
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* assumption, need to test).
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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 degrees 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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* Assume that the servo angle is linear with respect to the PWM value (big
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* assumption, need to test).
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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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/**
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* Get the maximum angle of the servo.
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*
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* @return The maximum angle of the servo in degrees.
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*/
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double GetMaxAngle() const;
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/**
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* Get the minimum angle of the servo.
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*
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* @return The minimum angle of the servo in degrees.
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*/
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double GetMinAngle() const;
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void InitSendable(SendableBuilder& builder) override;
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private:
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double GetServoAngleRange() 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 double kDefaultMaxServoPWM = 2.4;
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static constexpr double kDefaultMinServoPWM = .6;
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};
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} // namespace frc
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