DiffyServo#

The DiffyServo class provides easy control over two servos, allowing for differential control. This class is part of the org.gentrifiedApps.gentrifiedAppsUtil.classExtenders.servo package.

Constructor#

There are multiple constructors available to initialize the DiffyServo class:

  1. Basic Initialization:

    DiffyServo diffyServo = new DiffyServo(hardwareMap, "leftServo", "rightServo");

    • hardwareMap: The hardware map of the robot.

    • leftServo: The name of the left servo.

    • rightServo: The name of the right servo.

  2. With Directions:

    DiffyServo diffyServo = new DiffyServo(hardwareMap, "leftServo", "rightServo", Servo.Direction.FORWARD, Servo.Direction.REVERSE);

    • leftDirection: The direction of the left servo.

    • rightDirection: The direction of the right servo.

  3. With Idle Position:

    DiffyServo diffyServo = new DiffyServo(hardwareMap, "leftServo", "rightServo", 0.5);

    • idlePosition: The idle position of the servos.

  4. Full Initialization:

    DiffyServo diffyServo = new DiffyServo(hardwareMap, "leftServo", "rightServo", Servo.Direction.FORWARD, Servo.Direction.REVERSE, 0.5);

Methods#

setPosition#

Sets the position of the servos to the current values of lPos and rPos.

diffyServo.setPosition();

rotateDown#

Rotates both servos down by the specified position.

diffyServo.rotateDown(0.1);

rotateUp#

Rotates both servos up by the specified position.

diffyServo.rotateUp(0.1);

rotateLeft#

Rotates the servos to the left by the specified position (opposite directions).

diffyServo.rotateLeft(0.1);

rotateRight#

Rotates the servos to the right by the specified position (opposite directions).

diffyServo.rotateRight(0.1);

applyPreset#

Uses a DiffyPreset to set the left and right positions.

DiffyPreset preset = new DiffyPreset(0.2, 0.8);
diffyServo.applyPreset(preset);

Example Usage#

HardwareMap hardwareMap = // obtain hardware map
DiffyServo diffyServo = new DiffyServo(hardwareMap, "leftServo", "rightServo");

// Set initial position
diffyServo.setPosition();

// Rotate servos
diffyServo.rotateUp(0.1);
diffyServo.rotateLeft(0.1);

// Apply a preset
DiffyPreset preset = new DiffyPreset(0.2, 0.8);
diffyServo.applyPreset(preset);