Configuring a Servo Hub

This page will discuss information about configuration concepts specific to the Servo Hub. For more information on general configuration in REVLib, see this page.

Configuration Classes

Though Servo Hub has its own configuration class, ServoHubConfig, the majority of the configuration occurs in the ServoChannelConfig class.

API Documentation

For more information about what configurations and sub-configuration classes the Servo Hub provides, refer to the links below:

ServoHubConfig	Java	C++

Persisting Parameters

Configuring a Servo Hub automatically persists the configuration settings between power cycles when calling the configure() method.

Persisting parameters involves saving them to the Servo Hub's memory, which is time-intensive and blocks communication with the device.

Use Cases

It is recommended to update the majority of device parameters during the initial configuration of the device at the start of your program to ensure that the controller retains its configuration in the event of a power cycle during operation, e.g., due to a breaker trip or a brownout.

It is generally recommended not to make updates to the configuration mid-operation to avoid blocking the program and affecting the performance of the robot.

Below is an example of either case:

Java

Robot() {
    ServoHubConfig config = new ServoHubConfig();
    config
        .channel0.pulseRange(500, 1500, 2500)
        .disableBehavior(ServoChannelConfig.BehaviorWhenDisabled.kSupplyPower);

    // Persist parameters and reset any not explicitly set above to
    // their defaults.
    servoHub.configure(config, ServoHub.ResetMode.kResetSafeParameters);
}

void reduceRange() {
    ServoHubConfig config = new ServoHubConfig();
    config.channel0.pulseRange(500, 1500, 2500)
    
    // Don't reset the parameters that are not explicitly set above
    servoHub.configure(config, ServoHub.ResetMode.kNoResetSafeParameters);
}

C++