Examples with Servo com.robo4j.hw.rpi.Servo used on opensource projects

Example 1 with Servo

use of com.robo4j.hw.rpi.Servo in project robo4j by Robo4J.

the class ServoTester method main.

public static void main(String[] args) throws IOException, InterruptedException {
    System.out.print("Creating device...");
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    System.out.println("done!");
    System.out.println("Type the id of the channel of the servo to control and how much to move the servo,\nbetween -1 and 1. For example:\nknown servos=0>15 -1.0\nType q and enter to quit!\n");
    System.out.flush();
    Scanner scanner = new Scanner(System.in);
    String lastCommand;
    printPrompt();
    while (!"q".equals(lastCommand = scanner.nextLine())) {
        lastCommand = lastCommand.trim();
        String[] split = lastCommand.split(" ");
        if (split.length != 2) {
            System.out.println("Could not parse " + lastCommand + ". Please try again!");
            continue;
        }
        int channel = Integer.parseInt(split[0]);
        float position = Float.parseFloat(split[1]);
        if (channel < 0 || channel > 15) {
            System.out.println("Channel number " + channel + " is not allowed! Try again...");
            continue;
        }
        Servo servo = SERVOS[channel];
        if (servo == null) {
            servo = new PCA9685Servo(device.getChannel(channel));
            SERVOS[channel] = servo;
        }
        if (position < -1 || position > 1) {
            System.out.println("Input " + position + " is not allowed! Try again...");
            continue;
        }
        servo.setInput(position);
        printPrompt();
    }
    scanner.close();
    System.out.println("Bye!");
}

Example 2 with Servo

use of com.robo4j.hw.rpi.Servo in project robo4j by Robo4J.

the class PCA9685Example method main.

public static void main(String[] args) throws IOException, InterruptedException {
    System.out.println("Creating device...");
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo servo0 = new PCA9685Servo(device.getChannel(0));
    Servo servo1 = new PCA9685Servo(device.getChannel(1));
    PWMChannel motor0 = device.getChannel(2);
    PWMChannel motor1 = device.getChannel(3);
    System.out.println("Setting start conditions...");
    servo0.setInput(0);
    servo1.setInput(0);
    motor0.setPWM(0, MOTOR_MIN);
    motor1.setPWM(0, MOTOR_MIN);
    System.out.println("Press <Enter> to run loop!");
    System.in.read();
    System.out.println("Running perpetual loop...");
    while (true) {
        servo0.setInput(-1);
        servo1.setInput(-1);
        motor0.setPWM(0, MOTOR_MEDIUM);
        motor1.setPWM(0, MOTOR_MEDIUM);
        Thread.sleep(500);
        servo0.setInput(1);
        ;
        servo1.setInput(1);
        ;
        motor0.setPWM(0, MOTOR_MAX);
        motor1.setPWM(0, MOTOR_MAX);
        Thread.sleep(500);
        servo0.setInput(0);
        servo1.setInput(0);
        motor0.setPWM(0, MOTOR_MIN);
        motor1.setPWM(0, MOTOR_MIN);
        Thread.sleep(1000);
    }
}

Example 3 with Servo

use of com.robo4j.hw.rpi.Servo in project robo4j by Robo4J.

the class PCA9685TruckPlatformExample method testMotor.

public static void testMotor(float throttle, float steering, float leg, float shift, int duration) throws IOException, InterruptedException {
    System.out.println(String.format("Running for %d ms with throttle %f, steering %f, leg %f, shift %f", duration, throttle, steering, leg, shift));
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo throttleEngine = new PCA9685Servo(device.getChannel(SERVO_THROTTLE));
    Servo steeringEngine = new PCA9685Servo(device.getChannel(SERVO_STEERING));
    Servo legEngine = new PCA9685Servo(device.getChannel(SERVO_LEG));
    Servo shiftEngine = new PCA9685Servo(device.getChannel(SERVO_SHIFT));
    VehiclePlatform vehicle = new VehiclePlatform(0, throttleEngine, steeringEngine, legEngine, shiftEngine);
    vehicle.setThrottle(throttle);
    vehicle.setSteering(steering);
    vehicle.setLeg(leg);
    vehicle.setShift(shift);
    Thread.sleep(duration);
    vehicle.setThrottle(0);
    vehicle.setSteering(0);
    vehicle.setLeg(0);
    vehicle.setShift(0);
}

Example 4 with Servo

use of com.robo4j.hw.rpi.Servo in project robo4j by Robo4J.

the class RoboClawRCTankTest method testEngine.

public static void testEngine(float speed, float direction, int duration) throws IOException, InterruptedException {
    System.out.println(String.format("Running for %d ms with speed %f and direction %f.", duration, speed, direction));
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo leftEngine = new PCA9685Servo(device.getChannel(6));
    Servo rightEngine = new PCA9685Servo(device.getChannel(7));
    RoboClawRCTank tank = new RoboClawRCTank(leftEngine, rightEngine);
    tank.setDirection(direction);
    tank.setSpeed(speed);
    Thread.sleep(duration);
    tank.setSpeed(0);
}