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FRC2016-old/DriveBase/wpilib/cpp/current/include/Servo.h
2016-01-28 11:33:19 -05:00

54 lines
1.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SafePWM.h"
#include "SpeedController.h"
#include <memory>
/**
* 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.
*/
class Servo : public SafePWM {
public:
explicit Servo(uint32_t channel);
virtual ~Servo();
void Set(float value);
void SetOffline();
float Get() const;
void SetAngle(float angle);
float GetAngle() const;
static float GetMaxAngle() { return kMaxServoAngle; }
static float GetMinAngle() { return kMinServoAngle; }
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<ITable> m_table;
private:
float GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
static constexpr float kMaxServoAngle = 180.0;
static constexpr float kMinServoAngle = 0.0;
static constexpr float kDefaultMaxServoPWM = 2.4;
static constexpr float kDefaultMinServoPWM = .6;
};