#include <Servo.h>

Inheritance diagram for Servo:

Collaboration diagram for Servo:

Public Member Functions
	Servo (uint32_t channel)

	Servo (uint8_t moduleNumber, uint32_t channel)

void	Set (float value)

void	SetOffline ()

float	Get ()

void	SetAngle (float angle)

float	GetAngle ()

void	ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew)

void	UpdateTable ()

void	StartLiveWindowMode ()

void	StopLiveWindowMode ()

std::string	GetSmartDashboardType ()

void	InitTable (ITable *subTable)

ITable *	GetTable ()

Public Member Functions inherited from SafePWM
	SafePWM (uint32_t channel)

	SafePWM (uint8_t moduleNumber, uint32_t channel)

void	SetExpiration (float timeout)

float	GetExpiration ()

bool	IsAlive ()

void	StopMotor ()

bool	IsSafetyEnabled ()

void	SetSafetyEnabled (bool enabled)

void	GetDescription (char *desc)

virtual void	SetSpeed (float speed)

Public Member Functions inherited from PWM
	PWM (uint32_t channel)

	PWM (uint8_t moduleNumber, uint32_t channel)

virtual	~PWM ()

virtual void	SetRaw (uint8_t value)

virtual uint8_t	GetRaw ()

void	SetPeriodMultiplier (PeriodMultiplier mult)

void	EnableDeadbandElimination (bool eliminateDeadband)

void	SetBounds (int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)

void	SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min)

uint32_t	GetChannel ()

uint32_t	GetModuleNumber ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static float	GetMaxAngle ()

static float	GetMinAngle ()

Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Public Attributes
ITable *	m_table

Additional Inherited Members
Public Types inherited from PWM
enum	PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 }

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Protected Member Functions inherited from PWM
virtual void	SetPosition (float pos)

virtual float	GetPosition ()

virtual float	GetSpeed ()

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from PWM
bool	m_eliminateDeadband

int32_t	m_maxPwm

int32_t	m_deadbandMaxPwm

int32_t	m_centerPwm

int32_t	m_deadbandMinPwm

int32_t	m_minPwm

ITable *	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from PWM
static constexpr float	kDefaultPwmPeriod = 5.05

static constexpr float	kDefaultPwmCenter = 1.5

static const int32_t	kDefaultPwmStepsDown = 128

static const int32_t	kPwmDisabled = 0

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

Standard hobby style servo.

The range parameters default to the appropriate values for the Hitec HS-322HD servo provided in the FIRST Kit of Parts in 2008.

Definition at line 19 of file Servo.h.

Constructor & Destructor Documentation

Servo::Servo ( uint32_t channel )

explicit

Constructor that assumes the default digital module.

Parameters

channel The PWM channel on the digital module to which the servo is attached.

Definition at line 37 of file Servo.cpp.

Servo::Servo	(	uint8_t	moduleNumber,
		uint32_t	channel
	)

Constructor that specifies the digital module.

Parameters

moduleNumber	The digital module (1 or 2).
channel	The PWM channel on the digital module to which the servo is attached (1..10).

Definition at line 48 of file Servo.cpp.

Member Function Documentation

float Servo::Get ( )

Get the servo position.

Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

Returns: Position from 0.0 to 1.0.

Definition at line 85 of file Servo.cpp.

float Servo::GetAngle ( void )

Get the servo angle.

Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).

Returns: The angle in degrees to which the servo is set.

Definition at line 121 of file Servo.cpp.

std::string Servo::GetSmartDashboardType ( )

virtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Reimplemented from PWM.

Definition at line 148 of file Servo.cpp.

ITable * Servo::GetTable ( )

virtual

Returns: the table that is currently associated with the sendable

Reimplemented from PWM.

Definition at line 157 of file Servo.cpp.

void Servo::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Reimplemented from PWM.

Definition at line 152 of file Servo.cpp.

void Servo::Set ( float value )

Set the servo position.

Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

Parameters

value Position from 0.0 to 1.0.

Definition at line 64 of file Servo.cpp.

void Servo::SetAngle ( float degrees )

Set the servo angle.

Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).

Servo angles that are out of the supported range of the servo simply "saturate" in that direction In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.

Parameters

degrees The angle in degrees to set the servo.

Definition at line 101 of file Servo.cpp.

void Servo::SetOffline ( )

Set the servo to offline.

Set the servo raw value to 0 (undriven)

Definition at line 74 of file Servo.cpp.

void Servo::StartLiveWindowMode ( )

virtual

Start having this sendable object automatically respond to value changes reflect the value on the table.

Reimplemented from PWM.

Definition at line 136 of file Servo.cpp.

void Servo::StopLiveWindowMode ( )

virtual

Stop having this sendable object automatically respond to value changes.

Reimplemented from PWM.

Definition at line 142 of file Servo.cpp.

void Servo::UpdateTable ( )

virtual

Update the table for this sendable object with the latest values.

Reimplemented from PWM.

Definition at line 130 of file Servo.cpp.

void Servo::ValueChanged	(	ITable *	source,
		const std::string &	key,
		EntryValue	value,
		bool	isNew
	)

virtual

Called when a key-value pair is changed in a ITable WARNING: If a new key-value is put in this method value changed will immediatly be called which could lead to recursive code

Parameters

source	the table the key-value pair exists in
key	the key associated with the value that changed
value	the new value
isNew	true if the key did not previously exist in the table, otherwise it is false

Reimplemented from PWM.

Definition at line 126 of file Servo.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation