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

NextFeedbackServo

class NextFeedbackServo @JvmOverloads constructor(initializer: () -> ServoImplEx, feedbackInitializer: () -> AnalogFeedback, cacheTolerance: Double = 0.01) : NextServo

A NextServo paired with an analog feedback input for reading the servo's actual angle. Useful for servos with a feedback wire (e.g. Axon).

Inherits everything from NextServo — position, pwmRange, enable(), disable() — and adds angle for reading the physical angle in radians from the feedback input.

Example:

val arm = NextFeedbackServo("armServo", myAnalogFeedback)
arm.position = 0.5
val angle = arm.angle

Parameters

initializer

A function returning the backing ServoImplEx. 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 NextServo position caching delegate.

Constructors

NextFeedbackServo

@JvmOverloads

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

@JvmOverloads

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

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