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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <memory>
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#include <string>
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#include "SafePWM.h"
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#include "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
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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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public:
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explicit Servo(int channel);
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virtual ~Servo();
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void Set(double value);
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void SetOffline();
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double Get() const;
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void SetAngle(double angle);
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double GetAngle() const;
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static double GetMaxAngle() { return kMaxServoAngle; }
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static double GetMinAngle() { return kMinServoAngle; }
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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private:
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double GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
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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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