Package com.diozero.api

Class ServoTrim

java.lang.Object

com.diozero.api.ServoTrim

public class ServoTrim
extends Object

Arduino defaults to a range of 544 to 2400. 1 to 2 ms is the minimum pulse range used in the R/C radio control industry. The maximum pulse range is a servo specific value that you must determine by either manufacture's datasheet information or by testing of the specific servo you are using.

Field Summary

Fields

Modifier and Type	Field	Description
static ServoTrim	DEFAULT	Default to 180 degree range, from 0.6ms to 2.4ms with 1.5ms centre
static int	DEFAULT_90_DELTA_US
static int	DEFAULT_MID_US
static ServoTrim	MG996R
static int	MID_ANGLE
static ServoTrim	TOWERPRO_SG5010
static ServoTrim	TOWERPRO_SG90

Constructor Summary

Constructors

Constructor	Description
ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs)	Assumes 180 degree range of movement
ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs, int rangePulseWidthUs)
ServoTrim(int midPulseWidthUs, int ninetyDegPulseWidthUs, int minPulseWidthUs, int maxPulseWidthUs)

Method Summary

Modifier and Type	Method	Description
float	convertAngleToPulseWidthMs(int angle)
int	convertAngleToPulseWidthUs(int angle)
int	convertPulseWidthMsToAngle(float pulseWidthMs)
int	convertPulseWidthUsToAngle(int pulseWidthUs)
float	convertPulseWidthUsToValue(int pulseWidthUs)
int	convertValueToPulseWidthUs(float value)
int	getMaxAngle()	Get the servo maximum angle in degrees where 90 degrees is the middle angle
float	getMaxPulseWidthMs()
int	getMaxPulseWidthUs()
int	getMidAngle()	Get the servo middle angle in degrees (constant - 90 degrees)
float	getMidPulseWidthMs()
int	getMidPulseWidthUs()
int	getMinAngle()	Get the servo minimum angle in degrees where 90 degrees is the middle angle
float	getMinPulseWidthMs()
int	getMinPulseWidthUs()
float	getNinetyDegPulseWidthMs()
int	getNinetyDegPulseWidthUs()

Methods inherited from class java.lang.Object

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

Field Detail

MID_ANGLE

public static final int MID_ANGLE

See Also:

Constant Field Values

DEFAULT_MID_US

public static final int DEFAULT_MID_US

See Also:

Constant Field Values

DEFAULT_90_DELTA_US

public static final int DEFAULT_90_DELTA_US

See Also:

Constant Field Values

DEFAULT

public static final ServoTrim DEFAULT

Default to 180 degree range, from 0.6ms to 2.4ms with 1.5ms centre

TOWERPRO_SG90

public static final ServoTrim TOWERPRO_SG90

TOWERPRO_SG5010

public static final ServoTrim TOWERPRO_SG5010

MG996R

public static final ServoTrim MG996R

Constructor Detail

ServoTrim

public ServoTrim(int midPulseWidthUs,
                 int ninetyDegPulseWidthUs)

Assumes 180 degree range of movement

Parameters:

midPulseWidthUs - Pulse width in microseconds corresponding to the centre position (90 degrees)

ninetyDegPulseWidthUs - Pulse width in microseconds corresponding to a 90 degree movement in either direction

ServoTrim

public ServoTrim(int midPulseWidthUs,
                 int ninetyDegPulseWidthUs,
                 int rangePulseWidthUs)

ServoTrim

public ServoTrim(int midPulseWidthUs,
                 int ninetyDegPulseWidthUs,
                 int minPulseWidthUs,
                 int maxPulseWidthUs)

Method Detail

getMidPulseWidthUs

public int getMidPulseWidthUs()

getMidPulseWidthMs

public float getMidPulseWidthMs()

getNinetyDegPulseWidthUs

public int getNinetyDegPulseWidthUs()

getNinetyDegPulseWidthMs

public float getNinetyDegPulseWidthMs()

getMinPulseWidthUs

public int getMinPulseWidthUs()

getMinPulseWidthMs

public float getMinPulseWidthMs()

getMaxPulseWidthUs

public int getMaxPulseWidthUs()

getMaxPulseWidthMs

public float getMaxPulseWidthMs()

getMinAngle

public int getMinAngle()

Get the servo minimum angle in degrees where 90 degrees is the middle angle

Returns:

the servo minimum angle (90 degrees is central)

getMaxAngle

public int getMaxAngle()

Get the servo maximum angle in degrees where 90 degrees is the middle angle

Returns:

the servo maximum angle (90 degrees is central)

getMidAngle

public int getMidAngle()

Get the servo middle angle in degrees (constant - 90 degrees)

Returns:

the servo middle angle (a constant of 90 degrees)

convertPulseWidthUsToAngle

public int convertPulseWidthUsToAngle(int pulseWidthUs)

convertAngleToPulseWidthUs

public int convertAngleToPulseWidthUs(int angle)

convertPulseWidthMsToAngle

public int convertPulseWidthMsToAngle(float pulseWidthMs)

convertAngleToPulseWidthMs

public float convertAngleToPulseWidthMs(int angle)

convertValueToPulseWidthUs

public int convertValueToPulseWidthUs(float value)

convertPulseWidthUsToValue

public float convertPulseWidthUsToValue(int pulseWidthUs)