com.qualcomm.robotcore.hardware.configuration.annotations

Annotation Type ServoType

@Documented
 @Target(value=TYPE)
 @Retention(value=RUNTIME)
public @interface ServoType

ServoType is an annotation with which a class or interface can be decorated in order to define a new kind of servo that can be configured in the robot configuration user interface.

If the servo is not connected to a REV Hub, only the flavor parameter will be applied, as other servo controllers do not support setting a custom PWM range.

If the flavor is STANDARD or CONTINUOUS, this annotation can be placed on any class or interface.

If the flavor is CUSTOM, this annotation MUST implement HardwareDevice and have a constructor with at least one of the following constructor signatures:

1. ctor(ServoControllerEx controller, int port) -- Only used when configured on a REV Hub
2. ctor(ServoController controller, int port) -- Only used when configured on a CDIM

Must be accompanied by DeviceProperties annotation

See Also:

HardwareMap.put(String, HardwareDevice), HardwareMap.get(Class, String), HardwareMap.get(String)

Required Element Summary

Required Elements

Modifier and Type	Required Element and Description
ServoFlavor	flavor Indicates whether the servo is a standard servo, a continuous rotation servo, or if you're defining an entirely new type of servo device

Optional Element Summary

Optional Elements

Modifier and Type	Optional Element and Description
double	usPulseFrameRate Specifies the rate, in microseconds, at which the PWM is transmitted
double	usPulseLower Specifies the minimum PWM rate used, in microseconds.
double	usPulseUpper Specifies the maximum PWM rate used, in microseconds.

Element Detail

flavor

public abstract ServoFlavor flavor

Indicates whether the servo is a standard servo, a continuous rotation servo, or if you're defining an entirely new type of servo device

usPulseLower

public abstract double usPulseLower

Specifies the minimum PWM rate used, in microseconds. This corresponds to a servo position of 0.0.

Default:

600.0

usPulseUpper

public abstract double usPulseUpper

Specifies the maximum PWM rate used, in microseconds. This corresponds to a servo position of 1.0.

Default:

2400.0

usPulseFrameRate

public abstract double usPulseFrameRate

Specifies the rate, in microseconds, at which the PWM is transmitted

Default:

20000.0