mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
114 lines
3.5 KiB
Java
114 lines
3.5 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.wpilibj.hal.HAL;
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import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
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/**
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* Standard hobby style servo.
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*
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* <p>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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public class Servo extends PWM {
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private static final double kMaxServoAngle = 180.0;
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private static final double kMinServoAngle = 0.0;
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protected static final double kDefaultMaxServoPWM = 2.4;
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protected static final double kDefaultMinServoPWM = .6;
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/**
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* Constructor.<br>
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*
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* <p>By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br> By default
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* {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
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*
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* @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
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* the MXP port
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*/
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public Servo(final int channel) {
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super(channel);
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setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
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setPeriodMultiplier(PeriodMultiplier.k4X);
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HAL.report(tResourceType.kResourceType_Servo, getChannel());
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setName("Servo", getChannel());
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}
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/**
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* Set the servo position.
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*
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* <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left 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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public void set(double value) {
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setPosition(value);
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}
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/**
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* Get the servo position.
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*
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* <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left 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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public double get() {
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return getPosition();
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}
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/**
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* Set the servo angle.
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*
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* <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
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* test).
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*
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* <p>Servo angles that are out of the supported range of the servo simply "saturate" in that
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* direction In other words, if the servo has a range of (X degrees to Y degrees) than angles of
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* less than X result in an angle of X being set and angles of more than Y degrees result in an
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* angle of Y being 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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public void setAngle(double degrees) {
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if (degrees < kMinServoAngle) {
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degrees = kMinServoAngle;
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} else if (degrees > kMaxServoAngle) {
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degrees = kMaxServoAngle;
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}
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setPosition(((degrees - kMinServoAngle)) / getServoAngleRange());
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}
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/**
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* Get the servo angle.
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*
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* <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
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* 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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public double getAngle() {
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return getPosition() * getServoAngleRange() + kMinServoAngle;
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}
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private double getServoAngleRange() {
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return kMaxServoAngle - kMinServoAngle;
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}
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("Servo");
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builder.addDoubleProperty("Value", this::get, this::set);
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}
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}
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