伺服电机

介绍

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.

类构造函数

servo( triport::port& port );

类析构函数

Destroys the servo object and releases associated resources.

~servo();

参数

范围	类型	描述
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).

笔记

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

例子

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

成员功能

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

将伺服电机移动到指定位置。

Available Functions

1 — 使用百分比值设置伺服位置。

void setPosition(
 int32_t value,
 percentUnits units );

2 — 使用旋转单位设置伺服位置。

void setPosition(
 double value,
 rotationUnits units );

Parameters

范围	类型	描述
value	int32_t	使用百分比单位表示的伺服位置值。
value	double	使用旋转单元时的伺服位置值。
units	percentUnits	The position unit: percent / pct — percent
units	rotationUnits	The position unit: deg / degrees — degrees turns / rev — revolutions

Return Values

此函数不返回值。

Notes

• 使用百分比单位时，有效范围为 0 – 100%。

• 伺服电机在开始每个项目之前，都会自动将自身调整到 50 度中心位置，然后再进行任何运动。

• 使用旋转单元时，伺服电机将移动到指定的绝对位置。

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);