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@3:398efc75d72b, 2018-05-22 (annotated)
- Committer:
- haarkon
- Date:
- Tue May 22 16:57:35 2018 +0000
- Revision:
- 3:398efc75d72b
- Parent:
- 2:a762abad6301
- Child:
- 4:c21c2e0d926f
cosmetic revision (untested);
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 0:b8dcca3dc509 | 26 | * Any classic RC Servomotor 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 | 0:b8dcca3dc509 | 32 | * It may operate in classic mode (eg : min = 1ms, max = 2ms) or |
haarkon | 0:b8dcca3dc509 | 33 | * in extended mode (eg : Min = 400us, Max = 2,4ms) if you set _extended. |
haarkon | 0:b8dcca3dc509 | 34 | */ |
haarkon | 0:b8dcca3dc509 | 35 | |
haarkon | 0:b8dcca3dc509 | 36 | #ifndef Servo_H |
haarkon | 0:b8dcca3dc509 | 37 | #define Servo_H |
haarkon | 0:b8dcca3dc509 | 38 | |
haarkon | 0:b8dcca3dc509 | 39 | /** |
haarkon | 3:398efc75d72b | 40 | * Includes : Mbed Library |
haarkon | 0:b8dcca3dc509 | 41 | */ |
haarkon | 0:b8dcca3dc509 | 42 | #include "mbed.h" |
haarkon | 0:b8dcca3dc509 | 43 | |
haarkon | 0:b8dcca3dc509 | 44 | /** |
haarkon | 3:398efc75d72b | 45 | * RC_Servo |
haarkon | 3:398efc75d72b | 46 | * Analog servomotor (without external feedback) |
haarkon | 3:398efc75d72b | 47 | * More information : http://www.digitalspirit.org/wiki/docs/servo-moteurs |
haarkon | 0:b8dcca3dc509 | 48 | */ |
haarkon | 2:a762abad6301 | 49 | class RC_Servo |
haarkon | 2:a762abad6301 | 50 | { |
haarkon | 0:b8dcca3dc509 | 51 | |
haarkon | 0:b8dcca3dc509 | 52 | public : |
haarkon | 0:b8dcca3dc509 | 53 | |
haarkon | 0:b8dcca3dc509 | 54 | /** |
haarkon | 2:a762abad6301 | 55 | * Constructor of a RC Servo (analog). |
haarkon | 0:b8dcca3dc509 | 56 | * |
haarkon | 0:b8dcca3dc509 | 57 | * @param PWM is the Mbed pin used to generate the PWM signal |
haarkon | 0:b8dcca3dc509 | 58 | * @param _extended (= 0) if set modified the fonctioning limits |
haarkon | 0:b8dcca3dc509 | 59 | */ |
haarkon | 0:b8dcca3dc509 | 60 | RC_Servo(PinName PWM, int _extended = 0); |
haarkon | 0:b8dcca3dc509 | 61 | |
haarkon | 0:b8dcca3dc509 | 62 | /** |
haarkon | 3:398efc75d72b | 63 | * Set the min and max time associeted with both extreme position |
haarkon | 1:8482eba4d652 | 64 | * |
haarkon | 3:398efc75d72b | 65 | * @param Tmin : pulsewidth (in us) associated with Min position (must be more than 400) |
haarkon | 3:398efc75d72b | 66 | * @param Tmax : pulsewidth (in us) associated with Max position (must be less than 2400) |
haarkon | 1:8482eba4d652 | 67 | * @return 0 if OK, any other value if FAIL |
haarkon | 1:8482eba4d652 | 68 | */ |
haarkon | 1:8482eba4d652 | 69 | int setLimits (int Tmin, int Tmax); |
haarkon | 1:8482eba4d652 | 70 | |
haarkon | 1:8482eba4d652 | 71 | /** |
haarkon | 0:b8dcca3dc509 | 72 | * Set the position of the Servo |
haarkon | 0:b8dcca3dc509 | 73 | * |
haarkon | 3:398efc75d72b | 74 | * @param position : float number between 0 and 1 (0 = Min, 1 = Max) |
haarkon | 0:b8dcca3dc509 | 75 | */ |
haarkon | 0:b8dcca3dc509 | 76 | void write (float position); |
haarkon | 0:b8dcca3dc509 | 77 | |
haarkon | 2:a762abad6301 | 78 | /** |
haarkon | 0:b8dcca3dc509 | 79 | * A short hand for write |
haarkon | 0:b8dcca3dc509 | 80 | */ |
haarkon | 0:b8dcca3dc509 | 81 | RC_Servo& operator= (float position); |
haarkon | 0:b8dcca3dc509 | 82 | |
haarkon | 0:b8dcca3dc509 | 83 | private : |
haarkon | 0:b8dcca3dc509 | 84 | int _pMin, _pMax; |
haarkon | 0:b8dcca3dc509 | 85 | |
haarkon | 0:b8dcca3dc509 | 86 | protected : |
haarkon | 0:b8dcca3dc509 | 87 | PwmOut _pwm ; |
haarkon | 0:b8dcca3dc509 | 88 | |
haarkon | 0:b8dcca3dc509 | 89 | }; |
haarkon | 0:b8dcca3dc509 | 90 | #endif //GP2A_H |