FRC - Hackathon / RC_Servo

Pulse Width Modulation RC Servomotor Library compatible with classic and extended models. Models limit are customizable

Dependents:   FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more

RC_Servo.h@6:cf65fc8b0de1, 2018-06-05 (annotated)

Committer:
haarkon
Date:
Tue Jun 05 07:25:09 2018 +0000
Revision:
6:cf65fc8b0de1
Parent:
5:9b1e318db5f1
Child:
7:014d36c33b73
Soft RC Servo (without PWMOut)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:b8dcca3dc509 1 /**
haarkon 0:b8dcca3dc509 2 * @author Hugues Angelis
haarkon 0:b8dcca3dc509 3 *
haarkon 0:b8dcca3dc509 4 * @section LICENSE
haarkon 0:b8dcca3dc509 5 *
haarkon 0:b8dcca3dc509 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
haarkon 0:b8dcca3dc509 7 * of this software and associated documentation files (the "Software"), to deal
haarkon 0:b8dcca3dc509 8 * in the Software without restriction, including without limitation the rights
haarkon 0:b8dcca3dc509 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
haarkon 0:b8dcca3dc509 10 * copies of the Software, and to permit persons to whom the Software is
haarkon 0:b8dcca3dc509 11 * furnished to do so, subject to the following conditions:
haarkon 0:b8dcca3dc509 12 *
haarkon 0:b8dcca3dc509 13 * The above copyright notice and this permission notice shall be included in
haarkon 0:b8dcca3dc509 14 * all copies or substantial portions of the Software.
haarkon 0:b8dcca3dc509 15 *
haarkon 0:b8dcca3dc509 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
haarkon 0:b8dcca3dc509 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
haarkon 0:b8dcca3dc509 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
haarkon 0:b8dcca3dc509 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
haarkon 0:b8dcca3dc509 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
haarkon 0:b8dcca3dc509 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
haarkon 0:b8dcca3dc509 22 * THE SOFTWARE.
haarkon 0:b8dcca3dc509 23 *
haarkon 0:b8dcca3dc509 24 * @section DESCRIPTION
haarkon 0:b8dcca3dc509 25 *
haarkon 4:c21c2e0d926f 26 * Any classic RC Servomotor (ie : Analog) Library
haarkon 0:b8dcca3dc509 27 *
haarkon 0:b8dcca3dc509 28 * This library will operate any servo using a simple PWM to be driven.
haarkon 0:b8dcca3dc509 29 *
haarkon 0:b8dcca3dc509 30 * The library générate a PWM signal with a period of 20ms
haarkon 0:b8dcca3dc509 31 *
haarkon 4:c21c2e0d926f 32 * @note It may operate in classic mode (eg : min = 1ms, max = 2ms) or in extended mode (eg : Min = 400us, Max = 2,4ms) if you set _extended. Other value can be set
haarkon 0:b8dcca3dc509 33 */
haarkon 0:b8dcca3dc509 34
haarkon 0:b8dcca3dc509 35 #ifndef Servo_H
haarkon 0:b8dcca3dc509 36 #define Servo_H
haarkon 0:b8dcca3dc509 37
haarkon 0:b8dcca3dc509 38 /**
haarkon 3:398efc75d72b 39 * Includes : Mbed Library
haarkon 0:b8dcca3dc509 40 */
haarkon 0:b8dcca3dc509 41 #include "mbed.h"
haarkon 0:b8dcca3dc509 42
haarkon 0:b8dcca3dc509 43 /**
haarkon 3:398efc75d72b 44 * RC_Servo
haarkon 3:398efc75d72b 45 * Analog servomotor (without external feedback)
haarkon 3:398efc75d72b 46 * More information : http://www.digitalspirit.org/wiki/docs/servo-moteurs
haarkon 0:b8dcca3dc509 47 */
haarkon 2:a762abad6301 48 class RC_Servo
haarkon 2:a762abad6301 49 {
haarkon 0:b8dcca3dc509 50
haarkon 0:b8dcca3dc509 51 public :
haarkon 0:b8dcca3dc509 52
haarkon 0:b8dcca3dc509 53 /**
haarkon 6:cf65fc8b0de1 54 * Global Variable that define pulsewidth in microsecond
haarkon 6:cf65fc8b0de1 55 */
haarkon 6:cf65fc8b0de1 56 long RCdelay;
haarkon 6:cf65fc8b0de1 57
haarkon 6:cf65fc8b0de1 58 /**
haarkon 2:a762abad6301 59 * Constructor of a RC Servo (analog).
haarkon 0:b8dcca3dc509 60 *
haarkon 5:9b1e318db5f1 61 * @param PWM (PinName) : is the Mbed pin used to generate the PWM signal
haarkon 5:9b1e318db5f1 62 * @param _extended (int, = 0) : if set let servo use modified pulsewidth limits
haarkon 0:b8dcca3dc509 63 */
haarkon 0:b8dcca3dc509 64 RC_Servo(PinName PWM, int _extended = 0);
haarkon 0:b8dcca3dc509 65
haarkon 0:b8dcca3dc509 66 /**
haarkon 5:9b1e318db5f1 67 * Set the min and max pulsewidth time associated with both extreme position
haarkon 1:8482eba4d652 68 *
haarkon 3:398efc75d72b 69 * @param Tmin : pulsewidth (in us) associated with Min position (must be more than 400)
haarkon 3:398efc75d72b 70 * @param Tmax : pulsewidth (in us) associated with Max position (must be less than 2400)
haarkon 1:8482eba4d652 71 * @return 0 if OK, any other value if FAIL
haarkon 1:8482eba4d652 72 */
haarkon 1:8482eba4d652 73 int setLimits (int Tmin, int Tmax);
haarkon 1:8482eba4d652 74
haarkon 1:8482eba4d652 75 /**
haarkon 0:b8dcca3dc509 76 * Set the position of the Servo
haarkon 0:b8dcca3dc509 77 *
haarkon 3:398efc75d72b 78 * @param position : float number between 0 and 1 (0 = Min, 1 = Max)
haarkon 0:b8dcca3dc509 79 */
haarkon 0:b8dcca3dc509 80 void write (float position);
haarkon 0:b8dcca3dc509 81
haarkon 2:a762abad6301 82 /**
haarkon 0:b8dcca3dc509 83 * A short hand for write
haarkon 0:b8dcca3dc509 84 */
haarkon 0:b8dcca3dc509 85 RC_Servo& operator= (float position);
haarkon 0:b8dcca3dc509 86
haarkon 0:b8dcca3dc509 87 private :
haarkon 6:cf65fc8b0de1 88 int _RCpMin, _RCpMax;
haarkon 6:cf65fc8b0de1 89 Ticker _tickRC;
haarkon 6:cf65fc8b0de1 90
haarkon 6:cf65fc8b0de1 91 void generatePwm (void);
haarkon 0:b8dcca3dc509 92
haarkon 0:b8dcca3dc509 93 protected :
haarkon 6:cf65fc8b0de1 94 DigitalOut _RCpwm ;
haarkon 0:b8dcca3dc509 95
haarkon 0:b8dcca3dc509 96 };
haarkon 0:b8dcca3dc509 97 #endif //GP2A_H