Servo Control

Introduction: Servos move to a target position, which is useful for claws, linkages, and small mechanisms.

Basic theory: Servo position is usually a normalized value from 0.0 to 1.0. You set fixed positions for repeatable actions like open/close.

        import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
        import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
        import com.qualcomm.robotcore.hardware.Servo;
        
        /**
         * This OpMode demonstrates how to control a single servo (an arm servo)
         * using the gamepad A and B buttons.
         */
        @TeleOp(name="Servo Control Demo", group="Training")
        public class ServoControlDemo extends LinearOpMode {
        
            private Servo clawServo;
        
            @Override
            public void runOpMode() {
                // --- Initialization Phase ---
        
                // Initialize the arm servo from the hardware map.
                // The name "clawServo" must match your robot configuration.
                clawServo = hardwareMap.get(Servo.class, "clawServo");
        
                telemetry.addData("Status", "Initialized. Press Play to start.");
                telemetry.update();
        
                // Wait for the driver to press the "PLAY" button.
                waitForStart();
        
                // --- Run Phase ---
                while (opModeIsActive()) {
        
                    // If the 'A' button is pressed, move the servo to position 0.0.
                    if (gamepad1.a) {
                        clawServo.setPosition(0.0);
                    }
        
                    // If the 'B' button is pressed, move the servo to position 1.0.
                    if (gamepad1.b) {
                        clawServo.setPosition(1.0);
                    }
        
                    // Send feedback to the Driver Hub.
                    telemetry.addData("Servo Position", "%.2f", clawServo.getPosition());
                    telemetry.update();
                }
            }
        }

Position range: 0.0 one side, 0.5 center, 1.0 other side.