lejos.robotics

Interface Servo

All Known Implementing Classes:

TetrixServo

public interface Servo

Abstraction for a range-limited servo motor.

Author:

Kirk P. Thompson

Method Summary

Modifier and Type	Method and Description
float	getAngle() Gets the rotational position (angle) of a ranged servo.
int	getpulseWidth() Get the current PWM pulse width for the servo.
void	setAngle(float angle) Sets the rotational position (angle) of a ranged servo.
void	setpulseWidth(int microSeconds) Set the PWM pulse width for the servo.
void	setRange(int microsecLOW, int microsecHIGH, int travelRange) Set the allowable pulse width operating range of this servo in microseconds and the total travel range to allow the use of angle-based parameters to control the servo.

Method Detail

setAngle

void setAngle(float angle)

Sets the rotational position (angle) of a ranged servo.

Parameters:

angle - the target angle in degrees

See Also:

getAngle(), setRange(int, int, int)

getAngle

float getAngle()

Gets the rotational position (angle) of a ranged servo.

Returns:

the angle in degrees

See Also:

setAngle(float)

setpulseWidth

void setpulseWidth(int microSeconds)

Set the PWM pulse width for the servo. This must be in the range defined for the servo. This method allows manipulation of the servo position based on absolute pulse widths in microseconds.

A servo pulse of 1500 microseconds (1.5 ms) width will typically set the servo to its "neutral" position. This is the "standard pulse servo mode" used by all hobby analog servos.

Parameters:

microSeconds - The pulse width time in microseconds

getpulseWidth

int getpulseWidth()

Get the current PWM pulse width for the servo.

Returns:

The pulse width time in microseconds

setRange

void setRange(int microsecLOW,
              int microsecHIGH,
              int travelRange)

Set the allowable pulse width operating range of this servo in microseconds and the total travel range to allow the use of angle-based parameters to control the servo.

This information is used to calculate ansolute angles used by the setAngle() and getAngle() methods. The midpoint of the pulse width operating range should normally be 1500 microseconds so the range extents should reflect this.

This information must reflect the appropriate specifications and/or empirical characterization data of the specific servo used for the setAngle() method to be able to position the servo accurately.

Parameters:

microsecLOW - The low end of the servos response/operating range in microseconds

microsecHIGH - The high end of the servos response/operating range in microseconds

travelRange - The total mechanical travel range of the servo in degrees

See Also:

setAngle(float)