Servomotor

Introducción

The servo class is used to control and configure an EXP 3-Wire Servo Motor. The EXP 3-Wire Servo Motor provides position-based control within a fixed range of motion.

Constructores de clases

servo( triport::port& port );

Instructor de clase

Destroys the servo object and releases associated resources.

~servo();

Parámetros

Parámetro	Tipo	Descripción
port	triport::port&	The 3-Wire Port that the Servo Motor is connected to, written as Brain.ThreeWirePort.X or ExpanderName.X, where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.A).

Ejemplo

// Create the servo instance on 3-Wire Port A
servo myServo = servo(Brain.ThreeWirePort.A);

Funciones de los miembros

The servo class includes the following member functions:

• setPosition — Moves the servo motor to a specified position.

Before calling any servo member functions, a servo instance must be created, as shown below:

/* This constructor is required when using VS Code.
Servo configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the servo instance on 3-Wire Port A
servo myServo = servo(Brain.ThreeWirePort.A);

setPosition

Moves the servo motor to a specified position.

Available Functions

1 — Establece la posición del servo utilizando un valor porcentual.

void setPosition(
 int32_t value,
 percentUnits units );

2 — Establece la posición del servo utilizando unidades de rotación.

void setPosition(
 double value,
 rotationUnits units );

Parameters

Parámetro	Tipo	Descripción
value	int32_t	The servo position value when using percentage units.
value	double	The servo position value when using rotation units.
units	percentUnits	The position unit: percent / pct — percent
units	rotationUnits	The position unit: deg / degrees — degrees turns / rev — revolutions

Return Values

Esta función no devuelve ningún valor.

Notes

• Al utilizar unidades porcentuales, el rango válido es de 0 a 100%.

• A servo begins each project by automatically centering itself at 50 degrees before completing any movements.

• Al utilizar unidades de rotación, el servomotor se moverá a la posición absoluta especificada.

Examples

// Set the servo position to 10 percent
myServo.setPosition(10, percent);

// Set the servo position to 45.5 degrees
myServo.setPosition(45.5, degrees);

// Set the servo position to 90 degrees
myServo.setPosition(90, degrees);