Class Servo

Class Documentation

class Servo

This class wraps around the PWM class to provide utilities for controlling a servo. In particular, this class limits some target PWM to a min and max PWM value and uses ramping to control the speed of the servo.

Public Functions

Servo(Drivers *drivers, tap::gpio::Pwm::Pin currpwmPinPort, float maximumPwm, float minimumPwm, float pwmRampSpeed)

Initializes the PWM bounds and associates the Servo with some PWM pin.

Note

maximumPwm and minimumPwm are limited to between [0, 1]. Also if maximumPwm < minimumPwm, an error is thrown and [minPwm, maxPwm] is set to [0, 1].

Parameters:

  • drivers – [in] Instance to the drivers class you would like to use.

  • pwmPin – [in] The pin to attach the Servo class with.

  • maximumPwm – [in] The maximum allowable PWM output. This is limited between 0 and 1.

  • minimumPwm – [in] The minimum allowable PWM output. This is limited between 0 and 1.

  • pwmRampSpeed – [in] The speed in PWM percent per millisecond.

void setTargetPwm(float PWM)

Limits pwmOutputRamp to minPwm and maxPwm, then sets ramp output to the limited value. Do not repeatedly call (i.e. only call in a Command’s initialize function, for example).

void updateSendPwmRamp()

Updates the pwmOutputRamp object and then sets the output PWM to the updated ramp value.

float getPWM() const
Returns:

The current PWM output to the servo.

float getMinPWM() const
Returns:

The minimum PWM output (as a duty cycle).

float getMaxPWM() const
Returns:

The maximum PWM output (as a duty cycle).

bool isRampTargetMet() const
Returns:

true if the ramp has met the desired PWM value (set with setTargetPwm). Use this to estimate when a servo movement is complete.