Package lejos.hardware.device

Class MServo

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.MServo

All Implemented Interfaces:

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

public class MServo
extends I2CSensor

MServo, is a abstraction to model any RC Servo (continuous and non continuous) plugged to

Author:

Juan Antonio Brenha Moral

Field Summary

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
MServo(I2CPort port, int location)	The initial Constructor.
MServo(I2CPort port, int location, java.lang.String servoName)	The initial Constructor.
MServo(I2CPort port, int location, java.lang.String servoName, int min_angle, int max_angle)	Constructor with the feature to set min, max and init angle

Method Summary

Modifier and Type	Method	Description
int	getAngle()	Return the angle used in last operation
int	getPulse()	Return the pulse used in last operation
void	setAngle(int angle)	Method to set an Angle in a RC Servo.
void	setPulse(int pulse)	This method set the pulse in a RC Servo.
void	setSpeed(int speed)	Method to set the Speed in a RC Servo.

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, getName, 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

MServo

public MServo(I2CPort port,
              int location)

The initial Constructor. This constructor establish where is plugged NXTServo on NXT Brick, where the RC Servo is plugged into NXTServo

Parameters:

port -

location -

MServo

public MServo(I2CPort port,
              int location,
              java.lang.String servoName)

The initial Constructor. This constructor establish where is plugged NXTServo on NXT Brick, where the RC Servo is plugged into NXTServo

Parameters:

port -

location -

servoName -

MServo

public MServo(I2CPort port,
              int location,
              java.lang.String servoName,
              int min_angle,
              int max_angle)

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

Parameters:

port -

location -

servoName -

min_angle -

max_angle -

Method Detail

setPulse

public void setPulse(int pulse)

This method set the pulse in a RC Servo. Note:Pulse range is: 500-2500, but internally it is necessary to divide into 2

Parameters:

pulse - the pulse width

getPulse

public int getPulse()

Return the pulse used in last operation

Returns:

the pulse

setAngle

public void setAngle(int angle)

Method to set an Angle in a RC Servo.

Parameters:

angle - the angle

getAngle

public int getAngle()

Return the angle used in last operation

Returns:

the angle

setSpeed

public void setSpeed(int speed)

Method to set the Speed in a RC Servo.

Parameters:

speed - the speed