Package lejos.hardware.device

Class LServo

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.LMotor

lejos.hardware.device.LServo

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

public class LServo
extends LMotor

LServo, Lattebox Servo, is a abstraction to model any RC Servo (continous and non continous) plugged to LSC, Lattebox Servo Controller.

Author:

Juan Antonio Brenha Moral

Field Summary

Fields inherited from class lejos.hardware.device.LMotor

arrMotorLoad, arrMotorUnload, LSC_position, SPI_PORT

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors

Constructor	Description
LServo(I2CPort port, int location, java.lang.String servoName, byte SPI_PORT)	Constructor
LServo(I2CPort port, int location, java.lang.String servoName, byte SPI_PORT, int min_angle, int max_angle)	Constructor with the feature to set min and max angle
LServo(I2CPort port, int location, java.lang.String servoName, byte SPI_PORT, int min_angle, int max_angle, int init_angle)	Constructor with the feature to set min, max and init angle

Method Summary

Modifier and Type	Method	Description
void	backward()	Classic backward method for continous RC Servos
void	forward()	Classic forward method for continous RC Servos
int	getAngle()	Method to know the angle
void	goToInitAngle()	Method to set medium angle
void	goToMaxAngle()	Method to set maximum angle
void	goToMiddleAngle()	Method to set medium angle
void	goToMinAngle()	Method to set minimal angle
void	setAngle(int angle)	Method to set an Angle in a RC Servo.
void	setMaxAngle(int maxAngle)	Set Maximum angle.
void	setMinAngle(int minAngle)	Set Minimal angle.

Methods inherited from class lejos.hardware.device.LMotor

getName, getPulse, isMoving, load, setDelay, setPulse, unload

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Constructor Detail

LServo

public LServo(I2CPort port,
              int location,
              java.lang.String servoName,
              byte SPI_PORT)

Constructor

Parameters:

port -

location -

servoName -

SPI_PORT -

LServo

public LServo(I2CPort port,
              int location,
              java.lang.String servoName,
              byte SPI_PORT,
              int min_angle,
              int max_angle)

Constructor with the feature to set min and max angle

Parameters:

port -

location -

servoName -

SPI_PORT -

min_angle -

max_angle -

LServo

public LServo(I2CPort port,
              int location,
              java.lang.String servoName,
              byte SPI_PORT,
              int min_angle,
              int max_angle,
              int init_angle)

Constructor with the feature to set min, max and init angle

Parameters:

port -

location -

servoName -

SPI_PORT -

min_angle -

max_angle -

init_angle -

Method Detail

setAngle

public void setAngle(int angle)

Method to set an Angle in a RC Servo.

Parameters:

angle -

getAngle

public int getAngle()

Method to know the angle

Returns:

the angle

setMinAngle

public void setMinAngle(int minAngle)

Set Minimal angle. Useful method to calibrate a Servo

Parameters:

minAngle - the minimum angle

setMaxAngle

public void setMaxAngle(int maxAngle)

Set Maximum angle. Useful method to calibrate a Servo

Parameters:

maxAngle -

goToMinAngle

public void goToMinAngle()

Method to set minimal angle

goToMaxAngle

public void goToMaxAngle()

Method to set maximum angle

goToMiddleAngle

public void goToMiddleAngle()

Method to set medium angle

goToInitAngle

public void goToInitAngle()

Method to set medium angle

forward

public void forward()

Classic forward method for continous RC Servos

backward

public void backward()

Classic backward method for continous RC Servos