Package com.diozero.api

Class ServoDevice

java.lang.Object

com.diozero.api.GpioDevice

com.diozero.api.ServoDevice

All Implemented Interfaces:

DeviceInterface, AutoCloseable

public class ServoDevice
extends GpioDevice

Provide Servo device control.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ServoDevice.Builder

Field Summary

Fields

Modifier and Type	Field	Description
static int	DEFAULT_FREQUENCY

Fields inherited from class com.diozero.api.GpioDevice

pinInfo

Constructor Summary

Constructors

Constructor	Description
ServoDevice(ServoDeviceFactoryInterface deviceFactory, PinInfo pinInfo, int frequency, ServoTrim trim, int initialPulseWidthUs, boolean inverted)

Method Summary

Modifier and Type	Method	Description
void	close()	Close this device
float	getAngle()	Get the current servo angle where 90 degrees is the middle position
int	getPulseWidthUs()	Get the current servo pulse width in microseconds.
int	getServoFrequency()
boolean	isOn()	Get the device on / off status.
void	max()
void	mid()
void	min()
static ServoDevice.Builder	newBuilder(int pwmOrGpio)
static ServoDevice.Builder	newBuilder(PinInfo pinInfo)
void	setAngle(float angle)	Turn the servo to the specified angle where 90 is the middle position
void	setPulseWidthUs(int pulseWidthUs)	Set the servo pulse width value in microseconds.
void	setServoFrequency(int frequency)

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

Field Detail

DEFAULT_FREQUENCY

public static final int DEFAULT_FREQUENCY

See Also:

Constant Field Values

Constructor Detail

ServoDevice

public ServoDevice(ServoDeviceFactoryInterface deviceFactory,
                   PinInfo pinInfo,
                   int frequency,
                   ServoTrim trim,
                   int initialPulseWidthUs,
                   boolean inverted)
            throws RuntimeIOException

Parameters:

deviceFactory - Device factory to use to provision this device.

pinInfo - GPIO to which the output device is connected.

frequency - Servo frequency (Hz).

trim - Servo min / mid / max pulse widths and angle mapping

initialPulseWidthUs - Initial servo pulse width in microseconds

inverted - If the output is inverted, i.e. min is output as max and vice versa

Throws:

RuntimeIOException - If an I/O error occurred.

Method Detail

newBuilder

public static ServoDevice.Builder newBuilder(int pwmOrGpio)

newBuilder

public static ServoDevice.Builder newBuilder(PinInfo pinInfo)

close

public void close()

Description copied from interface: DeviceInterface

Close this device

getPulseWidthUs

public int getPulseWidthUs()
                    throws RuntimeIOException

Get the current servo pulse width in microseconds.

Returns:

Current output pulse width value.

Throws:

RuntimeIOException - If an I/O error occurred.

setPulseWidthUs

public void setPulseWidthUs(int pulseWidthUs)
                     throws RuntimeIOException

Set the servo pulse width value in microseconds.

Parameters:

pulseWidthUs - New pulse width value in microseconds.

Throws:

RuntimeIOException - If an I/O error occurred.

getServoFrequency

public int getServoFrequency()

setServoFrequency

public void setServoFrequency(int frequency)
                       throws RuntimeIOException

Throws:

RuntimeIOException

isOn

public boolean isOn()
             throws RuntimeIOException

Get the device on / off status.

Returns:

Returns true if the device currently has a value > 0.

Throws:

RuntimeIOException - If an I/O error occurred.

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()

mid

public void mid()

max

public void max()