Package me.autobot.lib.robot.motors

Class Servo

java.lang.Object

me.autobot.lib.robot.Device

me.autobot.lib.robot.Motor

me.autobot.lib.robot.motors.Servo

All Implemented Interfaces:

Logger

public class Servo
extends Motor

The servo motor class. This class is used to control a servo motor via the I2C bus.

Field Summary

Fields inherited from class me.autobot.lib.robot.Device

devices

Constructor Summary

Constructors

Constructor	Description
Servo(int identifier, int address)	Creates a new servo with the given address on the default I2C bus.
Servo(int identifier, int address, int bus)	Creates a new servo with the given address on the given I2C bus.

Method Summary

Modifier and Type	Method	Description
void	connectToI2C(int pin)	Connects the servo to the I2C bus.
protected void	reportSpeed()	Reports the speed of the servo to the I2C bus.
void	setRawSpeed(double speed)	Sets the speed of the servo to a number between 0 and 180.
void	setSpeed(double speed)	Sets the speed of the servo to a number between -1 and 1.
void	stop()	Stops the servo via setting the speed to 90 (halfway point).

Methods inherited from class me.autobot.lib.robot.Motor

brake, connectToSerial, emergencyStop, getAddress, getBus, getIdentifier, inSimulation, invert, isInverted

Methods inherited from class me.autobot.lib.robot.Device

emergencyStopAll, enableSimulation, getCurrent, getParent, getProperties, getProperty, getVoltage, registerDevice, setParent, setProperty

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Servo

public Servo(int identifier,
 int address)

Creates a new servo with the given address on the default I2C bus.

Parameters:

identifier - The identifier of the servo.

address - The I2C address of the controller.

Servo

public Servo(int identifier,
 int address,
 int bus)

Creates a new servo with the given address on the given I2C bus.

Parameters:

identifier - The identifier of the servo.

address - The I2C address of the controller.

bus - The I2C bus the controller is connected to.

Method Details

connectToI2C

public void connectToI2C(int pin)

Connects the servo to the I2C bus. This is assuming that the bot has the standard interpreter for the Arduino. If you're using a different interpreter, you'll need to change this method or create a different subclass.

Overrides:

connectToI2C in class Motor

Parameters:

pin - The pin to connect the servo to.

setRawSpeed

public void setRawSpeed(double speed)

Sets the speed of the servo to a number between 0 and 180.

Parameters:

speed - The speed to set the servo to.

setSpeed

public void setSpeed(double speed)

Sets the speed of the servo to a number between -1 and 1.

Overrides:

setSpeed in class Motor

Parameters:

speed - The speed to set the servo to.

stop

public void stop()

Stops the servo via setting the speed to 90 (halfway point).

Overrides:

stop in class Motor

reportSpeed

protected void reportSpeed()

Reports the speed of the servo to the I2C bus.

Overrides:

reportSpeed in class Motor