Package xbot.common.controls.actuators

Class TimedAndBoundedServo

java.lang.Object

xbot.common.controls.actuators.TimedAndBoundedServo

public class TimedAndBoundedServo
extends Object

A wrapper around XServo where Servo positions are bounded and get() returns the Servo's position dynamically based on the given minToMaxSeconds. NOTE: Clients will need to register the servo for DataFrameRefreshable beforehand.

Constructor Summary

Constructors

Constructor	Description
TimedAndBoundedServo(XServo servo, double minPosition, double maxPosition, double minToMaxSeconds)

Method Summary

Modifier and Type	Method	Description
double	getAbsoluteCurrentPosition()
double	getNormalizedCurrentPosition()
void	setAbsoluteTargetPosition(double target)
void	setNormalizedTargetPosition(double target)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TimedAndBoundedServo

public TimedAndBoundedServo(XServo servo,
 double minPosition,
 double maxPosition,
 double minToMaxSeconds)

Method Details

setAbsoluteTargetPosition

public void setAbsoluteTargetPosition(double target)

Parameters:

target - to set the Servo to, targetPosition should be within bounds

setNormalizedTargetPosition

public void setNormalizedTargetPosition(double target)

Parameters:

target - to set the Servo to, in % of completion, where 0 is the minPositon and 1 is the maxPosition.

getAbsoluteCurrentPosition

public double getAbsoluteCurrentPosition()

Returns:

a dynamic position calculated based on delta time

getNormalizedCurrentPosition

public double getNormalizedCurrentPosition()

Returns:

the current absolute servo position normalized to [0, 1]