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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <units/angle.h>
#include "frc/PWM.h"
namespace frc {
/**
* 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 PWM {
public:
/**
* Constructor.
*
* By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the
* min PWM value.
*
* @param channel The PWM channel to which the servo is attached. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit Servo(int channel);
Servo(Servo&&) = default;
Servo& operator=(Servo&&) = default;
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left
* to full right.
*
* @param value Position from 0.0 to 1.0.
*/
void Set(double value);
/**
* Set the servo to offline.
*
* Set the servo raw value to 0 (undriven)
*/
void SetOffline();
/**
* Get the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left
* to full right. This returns the commanded position, not the position that
* the servo is actually at, as the servo does not report its own position.
*
* @return Position from 0.0 to 1.0.
*/
double Get() const;
/**
* Set the servo angle.
*
* The angles are based on the HS-322HD Servo, and have a range of 0 to 180
* degrees.
*
* 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.
*
* @param angle The angle in degrees to set the servo.
*/
void SetAngle(double angle);
/**
* Get the servo angle.
*
* This returns the commanded angle, not the angle that the servo is actually
* at, as the servo does not report its own angle.
*
* @return The angle in degrees to which the servo is set.
*/
double GetAngle() const;
/**
* Get the maximum angle of the servo.
*
* @return The maximum angle of the servo in degrees.
*/
double GetMaxAngle() const;
/**
* Get the minimum angle of the servo.
*
* @return The minimum angle of the servo in degrees.
*/
double GetMinAngle() const;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
double GetServoAngleRange() const;
static constexpr double kMaxServoAngle = 180.;
static constexpr double kMinServoAngle = 0.0;
static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms;
static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms;
};
} // namespace frc