lejos.robotics.Servo Maven / Gradle / Ivy
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package lejos.robotics;
/**
* Abstraction for a range-limited servo motor.
*
* @author Kirk P. Thompson
*/
public interface Servo {
/**
* Sets the rotational position (angle) of a ranged servo.
*
* @param angle the target angle in degrees
* @see #getAngle
* @see #setRange
*/
public void setAngle(float angle);
/**
* Gets the rotational position (angle) of a ranged servo.
*
* @return the angle in degrees
* @see #setAngle
*/
public float getAngle();
/**
* Set the PWM pulse width for the servo. This must be in the range defined for the servo. This method allows manipulation
* of the servo position based on absolute pulse widths in microseconds.
*
* A servo pulse of 1500 microseconds (1.5 ms) width will typically set the servo to its "neutral" position. This is the
* "standard pulse servo mode" used by all hobby analog servos.
*
* @param microSeconds The pulse width time in microseconds
*/
public void setpulseWidth(int microSeconds);
/**
* Get the current PWM pulse width for the servo.
*
* @return The pulse width time in microseconds
*/
public int getpulseWidth();
/**Set the allowable pulse width operating range of this servo in microseconds and the total travel range to allow
* the use of angle-based parameters to control the servo.
*
* This information
* is used to calculate ansolute angles used by the setAngle() and getAngle() methods.
* The midpoint
* of the pulse width operating range should normally be 1500 microseconds so the range extents should reflect this.
*
* This information must reflect the appropriate specifications and/or empirical characterization data of the specific
* servo used for the setAngle() method to be able to position the servo accurately.
*
* @param microsecLOW The low end of the servos response/operating range in microseconds
* @param microsecHIGH The high end of the servos response/operating range in microseconds
* @param travelRange The total mechanical travel range of the servo in degrees
* @see #setAngle
*/
public void setRange (int microsecLOW, int microsecHIGH, int travelRange);
}