Package com.viam.sdk.core.component.servo

Class Servo

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

com.viam.sdk.core.component.servo.Servo

Direct Known Subclasses:

ServoRPCClient

public abstract class Servo
extends Component

Servo represents a physical servo

Nested Class Summary

Nested classes/interfaces inherited from class com.viam.sdk.core.resource.Resource

Resource.Reconfigurable, Resource.Stoppable

Field Summary

Fields

Modifier and Type	Field	Description
static final Subtype	SUBTYPE

Constructor Summary

Constructors

Constructor	Description
Servo(String name)

Method Summary

Modifier and Type	Method	Description
static Servo	fromRobot(RobotClient robot, String name)	Get the component with the provided name from the provided robot.
int	getPosition()	Get the current angle (degrees) of the servo.
abstract int	getPosition(com.google.protobuf.Struct extra)	Get the current angle (degrees) of the servo.
abstract boolean	isMoving()	Get if the servo is currently moving.
void	move(int angle)	Move the servo to the provided angle.
abstract void	move(int angle, com.google.protobuf.Struct extra)	Move the servo to the provided angle.
static Common.ResourceName	named(String name)	Get the ResourceName of the component
void	stop()	Stop the servo.
abstract void	stop(com.google.protobuf.Struct extra)	Stop the servo.

Methods inherited from class com.viam.sdk.core.component.Component

getGeometries

Methods inherited from class com.viam.sdk.core.resource.Resource

close, createStatus, doCommand, getName, getSubtype, named

Methods inherited from class java.lang.Object

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

Field Details

SUBTYPE

public static final Subtype SUBTYPE

Constructor Details

Servo

public Servo(String name)

Method Details

named

public static Common.ResourceName named(String name)

Get the ResourceName of the component

Parameters:

name - the name of the component

Returns:

the component's ResourceName

fromRobot

public static Servo fromRobot(RobotClient robot,
 String name)

Get the component with the provided name from the provided robot.

Parameters:

robot - the RobotClient

name - the name of the component

Returns:

the component

move

public abstract void move(int angle,
 com.google.protobuf.Struct extra)

Move the servo to the provided angle.

Parameters:

angle - the desired angle of the servo in degrees

move

public void move(int angle)

Move the servo to the provided angle.

Parameters:

angle - the desired angle of the servo in degrees

getPosition

public abstract int getPosition(com.google.protobuf.Struct extra)

Get the current angle (degrees) of the servo.

Returns:

the current angle of the servo in degrees

getPosition

public int getPosition()

Get the current angle (degrees) of the servo.

Returns:

the current angle of the servo in degrees

stop

public abstract void stop(com.google.protobuf.Struct extra)

Stop the servo. It is assumed that the servo stops immediately.

stop

public void stop()

Stop the servo. It is assumed that the servo stops immediately.

isMoving

public abstract boolean isMoving()

Get if the servo is currently moving.

Returns:

whether the servo is moving