AxonServo

AxonServo Class

The AxonServo class represents a servo motor with an analog encoder for position feedback.

Constructor Parameters:

• hw: HardwareMap - The hardware map to initialize the servo and encoder.

• name: String - The name of the servo.

Properties:

• encoder: AnalogInput - The analog input representing the encoder.

• servo: ServoPlus - The servo motor.

Methods:

• initAEncoder(HardwareMap hw): AnalogInput - Initializes the analog encoder.

• telemetry(Telemetry telemetry) - Adds encoder position data to telemetry.

• setPosition(double degree) - Sets the position of the servo in degrees.

• getEncoderPosition(): double - Gets the current position of the encoder in degrees.

• getEncoderPositionReversed(): double - Gets the reversed position of the encoder in degrees.

Usage Example

public class ExampleOpMode extends LinearOpMode {
    @Override
    public void runOpMode() {
        HardwareMap hardwareMap = hardwareMap;
        Telemetry telemetry = telemetry;

        // Initialize AxonServo
        AxonServo axonServo = new AxonServo(hardwareMap, "servoName");

        waitForStart();

        while (opModeIsActive()) {
            // Set servo position
            axonServo.setPosition(90.0);

            // Add telemetry data
            axonServo.telemetry(telemetry);
            telemetry.update();
        }
    }
}