Package com.diozero.devices

Class Servo

java.lang.Object

com.diozero.api.GpioDevice

com.diozero.devices.Servo

All Implemented Interfaces:

OutputDeviceInterface, Closeable, AutoCloseable

public class Servo
extends GpioDevice
implements OutputDeviceInterface

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Servo.Array
static class	Servo.OutputDeviceUnit
static class	Servo.Trim

Field Summary

Fields inherited from class com.diozero.api.GpioDevice

gpio

Constructor Summary

Constructors

Constructor	Description
Servo(int gpio, float initialPulseWidthMs)
Servo(int gpio, float initialPulseWidthMs, int pwmFrequency)
Servo(int gpio, float initialPulseWidthMs, int pwmFrequency, Servo.Trim trim)
Servo(int gpio, float initialPulseWidthMs, Servo.Trim trim)
Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs, int pwmFrequency)
Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory, int gpio, float initialPulseWidthMs, int pwmFrequency, Servo.Trim trim)

Method Summary

Modifier and Type	Method	Description
void	centre()
void	close()
float	getAngle()	Get the current servo angle where 90 degrees is the middle position
Servo.OutputDeviceUnit	getOutputDeviceUnit()
float	getPulseWidthMs()	Get the current servo pulse width in milliseconds
int	getPwmFrequency()
float	getValue()
void	max()
void	min()
void	setAngle(float angle)	Turn the servo to the specified angle where 90 is the middle position
Servo	setInverted(boolean inverted)
Servo	setOutputDeviceUnit(Servo.OutputDeviceUnit outputDeviceUnit)
void	setPulseWidthMs(float pulseWidthMs)	Set the servo pulse width in milliseconds
void	setValue(float value)	Sets the output value of the device.

Methods inherited from class com.diozero.api.GpioDevice

getGpio

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Servo

public Servo(int gpio,
float initialPulseWidthMs)
      throws RuntimeIOException

Throws:

RuntimeIOException

Servo

public Servo(int gpio,
float initialPulseWidthMs,
Servo.Trim trim)
      throws RuntimeIOException

Throws:

RuntimeIOException

Servo

public Servo(int gpio,
float initialPulseWidthMs,
int pwmFrequency)
      throws RuntimeIOException

Throws:

RuntimeIOException

Servo

public Servo(int gpio,
float initialPulseWidthMs,
int pwmFrequency,
Servo.Trim trim)
      throws RuntimeIOException

Throws:

RuntimeIOException

Servo

public Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory,
int gpio,
float initialPulseWidthMs,
int pwmFrequency)
      throws RuntimeIOException

Throws:

RuntimeIOException

Servo

public Servo(PwmOutputDeviceFactoryInterface pwmDeviceFactory,
int gpio,
float initialPulseWidthMs,
int pwmFrequency,
Servo.Trim trim)
      throws RuntimeIOException

Throws:

RuntimeIOException

Method Details

getOutputDeviceUnit

public Servo.OutputDeviceUnit getOutputDeviceUnit()

setOutputDeviceUnit

public Servo setOutputDeviceUnit(Servo.OutputDeviceUnit outputDeviceUnit)

setInverted

public Servo setInverted(boolean inverted)

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in interface Closeable

getPwmFrequency

public int getPwmFrequency()

getValue

public float getValue()

setValue

public void setValue(float value)

Description copied from interface: OutputDeviceInterface

Sets the output value of the device.

Specified by:

setValue in interface OutputDeviceInterface

Parameters:

value - the value to output

getPulseWidthMs

public float getPulseWidthMs()

Get the current servo pulse width in milliseconds

Returns:

The servo pulse width (milliseconds)

setPulseWidthMs

public void setPulseWidthMs(float pulseWidthMs)

Set the servo pulse width in milliseconds

Parameters:

pulseWidthMs - Servo pulse width (milliseconds)

getAngle

public float getAngle()

Get the current servo angle where 90 degrees is the middle position

Returns:

Servo angle (90 degrees is middle)

setAngle

public void setAngle(float angle)

Turn the servo to the specified angle where 90 is the middle position

Parameters:

angle - Servo angle (90 degrees is middle)

min

public void min()

max

public void max()

centre

public void centre()