Continuous-Rotation Servos

NextCRServo is a lightweight wrapper around a continuous-rotation FTC servo (CRServoImplEx) that gives you a more user-friendly interface for controlling power and direction.

Creating a NextCRServo

There are two ways to construct a NextCRServo, depending on what you desire.

Kotlin

// By Lynx Module and port, recommended
val intakeServo = NextCRServo(RobotController.controlHub, 0)

// Using a configuration name
val intakeServo = NextCRServo("intakeServo")

Java

// By Lynx Module and port, recommended
NextCRServo intakeServo = new NextCRServo(RobotController.controlHub(), 0);

// Using a configuration name
NextCRServo intakeServo = new NextCRServo("intakeServo");

Both constructors accept an optional cacheTolerance parameter:

Parameter	Type	Default	Description
cacheTolerance	Double	0.01	Minimum change in power required before a new value is written to the servo.

Usage

power

NextCRServo has a powerable property in the range [-1.0, 1.0] as a Double. This is what will set your servo to actually move.

Kotlin

intakeServo.power = 0.75

Java

intakeServo.setPower(0.75);

reverse()

Sets the servo’s direction to NextMotor.Direction.REVERSE, causing positive power values to spin the servo the opposite way. Returns the servo itself, so it can be chained off the constructor.

Kotlin

val intakeServo = NextCRServo("intakeServo").reverse()

Java

NextCRServo intakeServo = new NextCRServo("intakeServo").reverse();