mirror of
https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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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