ServoMotor< T > Class Template Reference

High-level wrapper for Arduino Servo control (RC servo motors). More...

#include <ServoMotor.h>

Inheritance diagram for ServoMotor< T >:

Collaboration diagram for ServoMotor< T >:

Public Member Functions
	ServoMotor (uint8_t id=0)
void	setPin (int pin)
bool	begin ()
void	setAngle (int8_t rosAngleDegrees)
int8_t	getAngle ()
bool	setValuePercent (T percent) override
T	getValuePercent () const override
void	setConstraints (int minAngle, int maxAngle)
void	end () override
bool	isPinsSet () const
Public Member Functions inherited from IMotor< T >
virtual bool	begin ()=0
virtual void	end ()=0
virtual bool	isPinsSet () const =0
virtual bool	setValuePercent (T percent)=0
virtual T	getValuePercent () const =0
void	setID (uint8_t id)
uint8_t	getID () const

Protected Attributes
::Servo	servo
int	pin = -1
int	minAngle = -90
int	maxAngle = 90
bool	is_pin_asssigned = false
T	lastValuePercent = 0.0f
Protected Attributes inherited from IMotor< T >
uint8_t	id = 0

Detailed Description

template<typename T = float>
class tinyrobotics::ServoMotor< T >

High-level wrapper for Arduino Servo control (RC servo motors).

This class provides an easy interface for controlling standard RC servo motors using the Arduino Servo library. It allows you to:

• Attach/detach a servo to a digital pin
• Set the servo angle in degrees (using ROS right-handed convention: 0 is forward, +left, -right)
• Set the servo position by pulse width (microseconds)
• Read back the last set angle (in degrees)
• Constrain the allowed angle range for safety or mechanical limits

Usage Example:

ServoMotor servo;
servo.attach(9);           // Attach to pin 9
servo.setConstraints(-45, 45); // Limit range to -45..45 degrees
servo.setAngle(45);        // Set to 45 degrees left
int angle = servo.getAngle(); // Read last angle
servo.detach();            // Detach when done

Note

Requires the Arduino Servo library.

Member Function Documentation

begin()

bool begin ( )

inlinevirtual

Implements IMotor< T >.

end()

void end ( )

inlineoverridevirtual

Implements IMotor< T >.

getAngle()

int8_t getAngle ( )

inline

Get the last written angle (degrees)

getValuePercent()

T getValuePercent ( ) const

inlineoverridevirtual

Implements IMotor< T >.

isPinsSet()

bool isPinsSet ( ) const

inlinevirtual

Implements IMotor< T >.

setAngle()

void setAngle ( int8_t  rosAngleDegrees )

inline

Set servo angle (degrees, 90 .. -90): 0 is forward

setConstraints()

void setConstraints ( int  minAngle, int  maxAngle  )

inline

Set constraints on the allowed angle range (degrees). This can be used to prevent the servo from moving beyond physical limits or to limit the range of motion for safety: by default, the full range of -90 to 90 degrees is allowed.

setPin()

void setPin ( int  pin )

inline

Attach the servo to a pin

setValuePercent()

bool setValuePercent ( T  percent )

inlineoverridevirtual

Set servo position as a percentage (-100 to 100). -100 = minAngle, 0 = center, 100 = maxAngle

Implements IMotor< T >.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/motors/ServoMotor.h