BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/ProfiledServo

ProfiledServo

open class ProfiledServo : ServoImpl, PwmControl

Extension of the extended Servo interface that allows for motion profiling via a TrapezoidProfile. This extension also offers refresh rate and position cache tolerance handling for loop time optimisation similar to an SimpleRotator.

This class serves as a drop-in replacement for the Servo, similar to Motor with the DcMotor. Do note that this class cannot be casted to a ServoImplEx instance, but it does implement the extended PwmControl interface for extended operations.

Author

Lucas Bubner, 2024

Since

5.1.0

Constructors

constructor(@NonNull servo: Servo)

Wrap a Servo to use with the ProfiledServo class.

Inherited properties

protected open var controller: ServoController

protected open var direction: Servo.Direction

limitPositionMax

protected open var limitPositionMax: Double

limitPositionMin

protected open var limitPositionMin: Double

val MAX_POSITION: Double = 1.0

val MIN_POSITION: Double = 0.0

protected open var portNumber: Int

Functions

disableConstraints

open fun disableConstraints()

Return to standard servo controls without a motion profile.

open fun getPwmRange(): PwmControl.PwmRange

Returns the current PWM range limits for the servo

open fun isPwmEnabled(): Boolean

Returns whether the PWM is energized for this particular servo

open fun setConstraints(@Nullable positionConstraints: TrapezoidProfile.Constraints)

Sets the trapezoidal constraints to apply to this servo's positions.

open fun setPosition(targetPosition: Double)

Sets the current position of the servo, expressed as a fraction of its available range.

setPositionDeltaThreshold

open fun setPositionDeltaThreshold(magnitude: Double)

Set the delta in servo position required to propagate a hardware write.

setPositionRefreshRate

open fun setPositionRefreshRate(@NonNull refreshRate: Measure<Time>)

Set the refresh rate of the servo that will be a minimum time between hardware writes.

open fun setPwmDisable()

Individually denergizes the PWM for this particular servo

open fun setPwmEnable()

Individually energizes the PWM for this particular servo.

open fun setPwmRange(@NonNull range: PwmControl.PwmRange)

Sets the PWM range limits for the servo

Inherited functions

open fun close()

getConnectionInfo

open fun getConnectionInfo(): String

open fun getController(): ServoController

open fun getDeviceName(): String

open fun getDirection(): Servo.Direction

getManufacturer

open fun getManufacturer(): HardwareDevice.Manufacturer

open fun getPortNumber(): Int

open fun getPosition(): Double

open fun getVersion(): Int

internalSetPosition

protected open fun internalSetPosition(position: Double)

resetDeviceConfigurationForOpMode

open fun resetDeviceConfigurationForOpMode()

open fun scaleRange(min: Double, max: Double)

open fun setDirection(direction: Servo.Direction)