PwmControl.setPwm()

[AlecHub]

The SDK doesn't seem to provide an api, say PwmControl.setPwm(), to be able to specify an exact pwm pusle width.

The following technique seems to work though:

    boolean setPwm(Servo servo, double usPwm)
    {
        if (usPwm >= 500.0 && usPwm <= 2500.00) {
            if (PwmControl.class.isInstance(servo)) {
                PwmControl pwm = (PwmControl) servo;
                PwmControl.PwmRange range = pwm.getPwmRange();
                pwm.setPwmRange(new PwmControl.PwmRange(usPwm, usPwm, range.usFrame));
                servo.setPosition(1.0);
                return true;
            }
        }
        return false;
    }

Would this technique be reliable?

[alan412]

With an oscilloscope, I have verified that this is close to being true for the entire range of 500 to 2500 us.

[alan412]

Playing with it, this small change seems to make it more accurate (but I am not sure why it should from looking at the internal code) -
pwm.setPwmRange(new PwmControl.PwmRange(500, usPwm, range.usFrame));

[AlecHub]

Thank you Alan, and thank you for your book. I especially like the dedication page and your pitch for OpMode.