Servos

NextServo is a lightweight wrapper around a standard FTC servo (ServoImplEx) that gives you a more user-friendly interface for controlling position and PWM range.

Creating a NextServo

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

Kotlin

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

// Using a configuration name
val armServo = NextServo("armServo")

Java

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

// Using a configuration name
NextServo armServo = new NextServo("armServo");

All constructors accept two optional parameters:

Parameter	Type	Default	Description
cacheTolerance	Double	0.01	Minimum change in position required before a new value is written to the servo.
direction	NextMotor.Direction	FORWARD	Initial direction of the servo.

Usage

position

NextServo has a positionable property in the range [0.0, 1.0] as a Double. This is what will set your servo to actually move.

Kotlin

armServo.position = 0.5

Java

armServo.setPosition(0.5);

pwmRange

PwmControl.PwmRange is the servo’s PWM range configuration. Get or set directly, or use setPwmRange for a more convenient two-argument setter.

setPwmRange(lower, upper)

Sets the PWM range of the servo.

Parameter	Type	Description
lower	Double	Lower bound of the PWM range, in microseconds.
upper	Double	Upper bound of the PWM range, in microseconds.

Kotlin

armServo.setPwmRange(500.0, 2500.0)

Java

armServo.setPwmRange(500.0, 2500.0);