tap::motor::Servo Class Reference

#include <servo.hpp>

Public Member Functions
	Servo (Drivers *drivers, tap::gpio::Pwm::Pin currpwmPinPort, float maximumPwm, float minimumPwm, float pwmRampSpeed)
void	setTargetPwm (float PWM)
void	updateSendPwmRamp ()
float	getPWM () const
float	getMinPWM () const
float	getMaxPWM () const
bool	isRampTargetMet () const

Detailed Description

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.

Constructor & Destructor Documentation

Servo()

tap::motor::Servo::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

[in]	drivers	Instance to the drivers class you would like to use.
[in]	pwmPin	The pin to attach the Servo class with.
[in]	maximumPwm	The maximum allowable PWM output. This is limited between 0 and 1.
[in]	minimumPwm	The minimum allowable PWM output. This is limited between 0 and 1.
[in]	pwmRampSpeed	The speed in PWM percent per millisecond.

Member Function Documentation

getMaxPWM()

float tap::motor::Servo::getMaxPWM

(

)

const

Returns

The maximum PWM output (as a duty cycle).

getMinPWM()

float tap::motor::Servo::getMinPWM

(

)

const

Returns

The minimum PWM output (as a duty cycle).

getPWM()

float tap::motor::Servo::getPWM

(

)

const

Returns

The current PWM output to the servo.

isRampTargetMet()

bool tap::motor::Servo::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.

setTargetPwm()

void tap::motor::Servo::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).

updateSendPwmRamp()

void tap::motor::Servo::updateSendPwmRamp

(

)

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

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The documentation for this class was generated from the following files:

• fang-mcb-project/taproot/src/tap/motor/servo.hpp
• fang-mcb-project/taproot/src/tap/motor/servo.cpp