wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/Servo.html
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<li>Summary: </li>
<li><a href="#nested.classes.inherited.from.class.edu.wpi.first.wpilibj.PWM">Nested</a> | </li>
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class Servo" class="title">Class Servo</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.PWM</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.Servo</li>
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<dl>
<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a>, <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<pre>public class <span class="typeNameLabel">Servo</span>
extends <a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></pre>
<div class="block">Standard hobby style servo.
<p>The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
in the FIRST Kit of Parts in 2008.</div>
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<h3>Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.PeriodMultiplier.html" title="enum in edu.wpi.first.wpilibj">PWM.PeriodMultiplier</a></code></li>
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<h3>Field Summary</h3>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Field and Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#kDefaultMaxServoPWM">kDefaultMaxServoPWM</a></span></code> </td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#kDefaultMinServoPWM">kDefaultMinServoPWM</a></span></code> </td>
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<h3>Fields inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<th class="colOne" scope="col">Constructor and Description</th>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#Servo-int-">Servo</a></span>(int channel)</code>
<div class="block">Constructor.<br></div>
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<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#get--">get</a></span>()</code>
<div class="block">Get the servo position.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#getAngle--">getAngle</a></span>()</code>
<div class="block">Get the servo angle.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></span>(<a href="../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</code>
<div class="block">Initializes a table for this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#set-double-">set</a></span>(double value)</code>
<div class="block">Set the servo position.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#setAngle-double-">setAngle</a></span>(double degrees)</code>
<div class="block">Set the servo angle.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#startLiveWindowMode--">startLiveWindowMode</a></span>()</code>
<div class="block">Start having this sendable object automatically respond to value changes reflect the value on
the table.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#stopLiveWindowMode--">stopLiveWindowMode</a></span>()</code>
<div class="block">Stop having this sendable object automatically respond to value changes.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Servo.html#updateTable--">updateTable</a></span>()</code>
<div class="block">Update the table for this sendable object with the latest values.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#enableDeadbandElimination-boolean-">enableDeadbandElimination</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#free--">free</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getChannel--">getChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getPosition--">getPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRaw--">getRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getRawBounds--">getRawBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSpeed--">getSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setBounds-double-double-double-double-double-">setBounds</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setDisabled--">setDisabled</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPeriodMultiplier-edu.wpi.first.wpilibj.PWM.PeriodMultiplier-">setPeriodMultiplier</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setPosition-double-">setPosition</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setRaw-int-">setRaw</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setSpeed-double-">setSpeed</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html#setZeroLatch--">setZeroLatch</a></code></li>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h3>Field Detail</h3>
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<h4>kDefaultMaxServoPWM</h4>
<pre>protected static final double kDefaultMaxServoPWM</pre>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.Servo.kDefaultMaxServoPWM">Constant Field Values</a></dd>
</dl>
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<h4>kDefaultMinServoPWM</h4>
<pre>protected static final double kDefaultMinServoPWM</pre>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.Servo.kDefaultMinServoPWM">Constant Field Values</a></dd>
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<h3>Constructor Detail</h3>
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<h4>Servo</h4>
<pre>public Servo(int channel)</pre>
<div class="block">Constructor.<br>
<p>By default <a href="../../../../edu/wpi/first/wpilibj/Servo.html#kDefaultMaxServoPWM">2.4</a> ms is used as the maxPWM value<br> By default
<a href="../../../../edu/wpi/first/wpilibj/Servo.html#kDefaultMinServoPWM">0.6</a> ms is used as the minPWM value<br></div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
the MXP port</dd>
</dl>
</li>
</ul>
</li>
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<h4>set</h4>
<pre>public void set(double value)</pre>
<div class="block">Set the servo position.
<p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>value</code> - Position from 0.0 to 1.0.</dd>
</dl>
</li>
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<a name="get--">
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<h4>get</h4>
<pre>public double get()</pre>
<div class="block">Get the servo position.
<p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Position from 0.0 to 1.0.</dd>
</dl>
</li>
</ul>
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<h4>setAngle</h4>
<pre>public void setAngle(double degrees)</pre>
<div class="block">Set the servo angle.
<p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
test).
<p>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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>degrees</code> - The angle in degrees to set the servo.</dd>
</dl>
</li>
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<h4>getAngle</h4>
<pre>public double getAngle()</pre>
<div class="block">Get the servo angle.
<p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
test).</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The angle in degrees to which the servo is set.</dd>
</dl>
</li>
</ul>
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<h4>getSmartDashboardType</h4>
<pre>public java.lang.String getSmartDashboardType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">Sendable</a></code></span></div>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#getSmartDashboardType--">getSmartDashboardType</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
</dl>
</li>
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<h4>initTable</h4>
<pre>public void initTable(<a href="../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">Sendable</a></code></span></div>
<div class="block">Initializes a table for this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>subtable</code> - The table to put the values in.</dd>
</dl>
</li>
</ul>
<a name="updateTable--">
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<h4>updateTable</h4>
<pre>public void updateTable()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#updateTable--">LiveWindowSendable</a></code></span></div>
<div class="block">Update the table for this sendable object with the latest values.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#updateTable--">updateTable</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#updateTable--">updateTable</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></code></dd>
</dl>
</li>
</ul>
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<h4>startLiveWindowMode</h4>
<pre>public void startLiveWindowMode()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#startLiveWindowMode--">LiveWindowSendable</a></code></span></div>
<div class="block">Start having this sendable object automatically respond to value changes reflect the value on
the table.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#startLiveWindowMode--">startLiveWindowMode</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#startLiveWindowMode--">startLiveWindowMode</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></code></dd>
</dl>
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<h4>stopLiveWindowMode</h4>
<pre>public void stopLiveWindowMode()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#stopLiveWindowMode--">LiveWindowSendable</a></code></span></div>
<div class="block">Stop having this sendable object automatically respond to value changes.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#stopLiveWindowMode--">stopLiveWindowMode</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PWM.html#stopLiveWindowMode--">stopLiveWindowMode</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a></code></dd>
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