Servo Motor #

Introduction #

The servo class is used to control and configure a V5 3-Wire Servo Motor. The V5 3-Wire Servo Motor provides position-based control within a fixed range of motion.

Class Constructors #

servo( triport::port& port );

Class Destructor #

Destroys the servo object and releases associated resources.

~servo();

Parameters #

Parameter	Type	Description
`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`).

Notes #

A Brain or 3-Wire Expander must be created first before they can be used to create an object with the servo class constructor.

Example #

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

Member Functions #

The servo class includes the following member functions:

setPosition — Sets the position of the servo motor.

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 Servo = servo(Brain.ThreeWirePort.A);

setPosition #

Sets the position of the servo motor to a specified value.

Available Functions

1 — Sets the servo position using a percentage value.
void setPosition(
 int32_t value,
 percentUnits units );

2 — Sets the servo position using rotation units.
void setPosition(
 double value,
 rotationUnits units );

Parameters

Parameter	Type	Description
`value`	`int32_t`	An integer value for the servo position when using percentage units.
`value`	`double`	A double value for the servo position when using rotation units.
`units`	`percentUnits`	The unit used to represent position as percentage: `percent` / `pct` — percent
`units`	`rotationUnits`	The unit used to represent `value`: `deg` / `degrees` — degrees `turns` / `rev` — revolutions

Return Values

This function does not return a value.

Notes

When using percentage units, the valid range is 0 – 100%.
When using rotation units, the servo will move to the absolute position specified.

Examples

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

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

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