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https://github.com/wpilibsuite/allwpilib
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59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SafePWM.h"
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#include "SpeedController.h"
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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 servo provided
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* in the FIRST Kit of Parts in 2008.
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*/
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class Servo : public SafePWM
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{
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public:
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explicit Servo(uint32_t channel);
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virtual ~Servo();
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void Set(float value);
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void SetOffline();
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float Get();
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void SetAngle(float angle);
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float GetAngle();
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static float GetMaxAngle()
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{
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return kMaxServoAngle;
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}
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static float GetMinAngle()
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{
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return kMinServoAngle;
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}
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void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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ITable *m_table;
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private:
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void InitServo();
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float GetServoAngleRange()
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{
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return kMaxServoAngle - kMinServoAngle;
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}
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static constexpr float kMaxServoAngle = 180.0;
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static constexpr float kMinServoAngle = 0.0;
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static constexpr float kDefaultMaxServoPWM = 2.4;
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static constexpr float kDefaultMinServoPWM = .6;
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};
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