NextFTC Hardware/dev.nextftc.hardware.actuators/NextFeedbackCRServo

NextFeedbackCRServo

class NextFeedbackCRServo @JvmOverloads constructor(initializer: () -> CRServoImplEx, feedbackInitializer: () -> AnalogFeedback, cacheTolerance: Double = 0.01) : NextCRServo

A NextCRServo paired with an analog feedback input for reading the servo's actual angle. Useful for continuous-rotation servos with feedback wires (e.g. Axon CR) where you want to know how far the servo has rotated.

Inherits everything from NextCRServo — power, direction, reverse(), enable(), disable() — and adds angle for reading the physical angle in radians from the feedback input.

Parameters

initializer

A function returning the backing CRServoImplEx. It will be invoked lazily the first time the servo is accessed.

feedbackInitializer

A function returning the backing AnalogFeedback used to read the feedback angle. Accepts any AnalogFeedback implementation.

cacheTolerance

Tolerance for the NextCRServo power caching delegate.

Constructors

NextFeedbackCRServo

@JvmOverloads

constructor(initializer: () -> CRServoImplEx, feedbackInitializer: () -> AnalogFeedback, cacheTolerance: Double = 0.01)

@JvmOverloads

constructor(servoName: String, feedback: AnalogFeedback, cacheTolerance: Double = 0.01)

Constructor to create a NextFeedbackCRServo using a servo name and an already-constructed AnalogFeedback instance for the feedback input.

@JvmOverloads

constructor(module: NextLynxModule, port: Int, feedback: AnalogFeedback, cacheTolerance: Double = 0.01)

Constructor to create a NextFeedbackCRServo using a LynxModule and port number for the servo, and an already-constructed AnalogFeedback instance for the feedback input.