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[wpilib] Servo: Use composition instead of inheritance for PWM #7858

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[wpilib] Servo: Use composition instead of inheritance for PWM #7858

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17 changes: 9 additions & 8 deletions wpilibc/src/main/native/cpp/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,27 +16,28 @@ constexpr double Servo::kMinServoAngle;
constexpr units::millisecond_t Servo::kDefaultMaxServoPWM;
constexpr units::millisecond_t Servo::kDefaultMinServoPWM;

Servo::Servo(int channel) : PWM(channel) {
Servo::Servo(int channel) : m_pwm(channel) {
// Set minimum and maximum PWM values supported by the servo
SetBounds(kDefaultMaxServoPWM, 0.0_ms, 0.0_ms, 0.0_ms, kDefaultMinServoPWM);
m_pwm.SetBounds(kDefaultMaxServoPWM, 0.0_ms, 0.0_ms, 0.0_ms,
kDefaultMinServoPWM);

// Assign defaults for period multiplier for the servo PWM control signal
SetPeriodMultiplier(kPeriodMultiplier_4X);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_4X);

HAL_ReportUsage("IO", channel, "Servo");
wpi::SendableRegistry::SetName(this, "Servo", channel);
}

void Servo::Set(double value) {
SetPosition(value);
m_pwm.SetPosition(value);
}

void Servo::SetOffline() {
SetDisabled();
m_pwm.SetDisabled();
}

double Servo::Get() const {
return GetPosition();
return m_pwm.GetPosition();
}

void Servo::SetAngle(double degrees) {
Expand All @@ -46,11 +47,11 @@ void Servo::SetAngle(double degrees) {
degrees = kMaxServoAngle;
}

SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
m_pwm.SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
}

double Servo::GetAngle() const {
return GetPosition() * GetServoAngleRange() + kMinServoAngle;
return m_pwm.GetPosition() * GetServoAngleRange() + kMinServoAngle;
}

double Servo::GetMaxAngle() const {
Expand Down
6 changes: 5 additions & 1 deletion wpilibc/src/main/native/include/frc/Servo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#pragma once

#include <units/angle.h>
#include <wpi/sendable/Sendable.h>

#include "frc/PWM.h"

Expand All @@ -16,7 +17,7 @@ namespace frc {
* The range parameters default to the appropriate values for the Hitec HS-322HD
* servo provided in the FIRST Kit of Parts in 2008.
*/
class Servo : public PWM {
class Servo : public wpi::Sendable {
public:
/**
* Constructor.
Expand Down Expand Up @@ -102,6 +103,9 @@ class Servo : public PWM {

void InitSendable(wpi::SendableBuilder& builder) override;

protected:
PWM m_pwm;

private:
double GetServoAngleRange() const;

Expand Down
28 changes: 18 additions & 10 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package edu.wpi.first.wpilibj;

import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;

Expand All @@ -14,13 +15,15 @@
* <p>The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
* in the FIRST Kit of Parts in 2008.
*/
public class Servo extends PWM {
public class Servo implements Sendable, AutoCloseable {
private static final double kMaxServoAngle = 180.0;
private static final double kMinServoAngle = 0.0;

private static final int kDefaultMaxServoPWM = 2400;
private static final int kDefaultMinServoPWM = 600;

protected PWM m_pwm;

/**
* Constructor.
*
Expand All @@ -32,12 +35,17 @@ public class Servo extends PWM {
*/
@SuppressWarnings("this-escape")
public Servo(final int channel) {
super(channel);
setBoundsMicroseconds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
setPeriodMultiplier(PeriodMultiplier.k4X);
m_pwm = new PWM(channel);
m_pwm.setBoundsMicroseconds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k4X);

HAL.reportUsage("IO", channel, "Servo");
SendableRegistry.setName(this, "Servo", channel);
}

HAL.reportUsage("IO", getChannel(), "Servo");
SendableRegistry.setName(this, "Servo", getChannel());
@Override
public void close() {
m_pwm.close();
}

/**
Expand All @@ -48,7 +56,7 @@ public Servo(final int channel) {
* @param value Position from 0.0 to 1.0.
*/
public void set(double value) {
setPosition(value);
m_pwm.setPosition(value);
}

/**
Expand All @@ -61,7 +69,7 @@ public void set(double value) {
* @return Position from 0.0 to 1.0.
*/
public double get() {
return getPosition();
return m_pwm.getPosition();
}

/**
Expand All @@ -83,7 +91,7 @@ public void setAngle(double degrees) {
degrees = kMaxServoAngle;
}

setPosition((degrees - kMinServoAngle) / getServoAngleRange());
m_pwm.setPosition((degrees - kMinServoAngle) / getServoAngleRange());
}

/**
Expand All @@ -95,7 +103,7 @@ public void setAngle(double degrees) {
* @return The angle in degrees to which the servo is set.
*/
public double getAngle() {
return getPosition() * getServoAngleRange() + kMinServoAngle;
return m_pwm.getPosition() * getServoAngleRange() + kMinServoAngle;
}

private double getServoAngleRange() {
Expand Down
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