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leandrumartin merged 3 commits into from
Jun 13, 2026
Merged

Improve ServoMotorHelper Javadocs #490

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e69f033
Improve ServoMotorHelper Javadocs
leandrumartin Jun 13, 2026
90065a7
Remove @throws tags
leandrumartin Jun 13, 2026
2624072
Remove extra space
leandrumartin Jun 13, 2026
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20 changes: 15 additions & 5 deletions pi4micronaut-utils/src/main/java/com/opensourcewithslu/outputdevices/ServoMotorHelper.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package com.opensourcewithslu.outputdevices;

import com.pi4j.io.exception.IOException;
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import com.pi4j.io.pwm.Pwm;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
Expand Down Expand Up @@ -30,8 +31,10 @@ public ServoMotorHelper(Pwm servoMotor) {
}

/**
* Enables the servo motor by setting an initial duty cycle and frequency.
* The servo motor remains disabled until this method is called.
* Enables the servo motor by starting PWM output at 0% duty cycle and the
* configured servo frequency.
*
* @throws IOException if the underlying PWM implementation cannot start the signal
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*/
public void enable() {
log.info("Enabling servo motor");
Expand All @@ -40,7 +43,9 @@ public void enable() {
}

/**
* Disables the servo motor, effectively stopping any ongoing PWM signal.
* Disables the servo motor and stops PWM output.
*
* @throws IOException if the underlying PWM implementation cannot stop the signal
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*/
public void disable() {
log.info("Disabling servo motor");
Expand All @@ -60,9 +65,14 @@ float map(float value) {

/**
* Sets the servo motor to a specific angle.
* This method calculates the necessary pulse width and duty cycle to achieve the specified angle.
* <p>
* The angle must be between 0 and 180 degrees. Values outside that range
* are ignored and logged. This method also waits briefly after updating the
* PWM signal so the servo has time to move.
* </p>
*
* @param angle the target angle for the servo motor, between 0 and 180 degrees.
* @throws IOException if the underlying PWM implementation cannot update the signal
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*/
public void setAngle(int angle) {
if (!isEnabled) {
Expand Down Expand Up @@ -90,7 +100,7 @@ public void setAngle(int angle) {
}

/**
* Sets the logger for this ServoMotorHelper instance.
* Sets the logger for this {@code ServoMotorHelper} instance.
* This method is intended for internal testing purposes only.
*
* @param logger the logger to be used for logging messages.
Expand Down
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