General Data
Gearing Options
Stroke Options
Sample Code
Sample code provided by FRC 4414. The provided code is to control the position of the L16-R Miniature Linear Servo Actuators.
Sample Code
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpiutil.math.MathUtil;
public class LinearServo extends Servo{
double m_speed;
double m_length;
double setPos;
double curPos;
/**
* Parameters for L16-R Actuonix Linear Actuators
*
* @param channel PWM channel used to control the servo
* @param length max length of the servo [mm]
* @param speed max speed of the servo [mm/second]
*/
public LinearServo(int channel, int length, int speed) {
super(channel);
setBounds(2.0, 1.8, 1.5, 1.2, 1.0);
m_length = length;
m_speed = speed;
}
/**
* Run this method in any periodic function to update the position estimation of your
servo
*
* @param setpoint the target position of the servo [mm]
*/
public void setPosition(double setpoint){
setPos = MathUtil.clamp(setpoint, 0, m_length);
setSpeed( (setPos/m_length *2)-1);
}
double lastTime = 0;
/**
* Run this method in any periodic function to update the position estimation of your
servo
*/
public void updateCurPos(){
double dt = Timer.getFPGATimestamp() - lastTime;
if (curPos > setPos + m_speed *dt){
curPos -= m_speed *dt;
} else if(curPos < setPos - m_speed *dt){
curPos += m_speed *dt;
}else{
curPos = setPos;
}
}
/**
* Current position of the servo, must be calling {@link #updateCurPos()
updateCurPos()} periodically
*
* @return Servo Position [mm]
*/
public double getPosition(){
return curPos;
}
/**
* Checks if the servo is at its target position, must be calling {@link #updateCurPos()
updateCurPos()} periodically
* @return true when servo is at its target
*/
public boolean isFinished(){
return curPos == setPos;
}
}Graphs
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