ITI "DallaChiesa" 2019
/
Servo
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Dependents: servomotore progetto8 progetto9 progetto10 ... more
Revision 1:de53826667ce, committed 2019-03-28
- Comitter:
- faraonemena
- Date:
- Thu Mar 28 15:52:51 2019 +0000
- Parent:
- 0:a62b163b1dbb
- Commit message:
- servom
Changed in this revision
--- a/SG90.cpp Sat Apr 05 07:56:43 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,114 +0,0 @@
-#include "mbed.h"
-#include "SG90.h"
-
-
-//Initialize the position variables to neutral
-
-servo::servo() : pwm1(PTA5), pwm2(PTA12), pwm3(PTA4), pwm4(PTA5)
- {
-
- init();
- }
-
-
-
-void servo::init() //Initialize all servo pwm's to a periode of 20ms
- {
- s1=s2=s3=s4=1400; //Initialize the position variables to neutral
- pwm1.period_ms(20);
- pwm1.pulsewidth_us(s1);
- pwm2.period_ms(20);
- pwm2.pulsewidth_us(s2);
- pwm3.period_ms(20);
- pwm3.pulsewidth_us(s3);
- pwm4.period_ms(20);
- pwm4.pulsewidth_us(s4);
- }
-
-void servo::right(int a) //Lower the pulsewidth to make the servo turn clockwise
- {
- switch (a)
- {
- case 1:
- if (s1 >= 540) s1 = (s1 - 20);
- pwm1.pulsewidth_us(s1);
- break;
-
- case 2:
- if (s2 >= 540)s2 =s2 -20;
- pwm2.pulsewidth_us(s2);
- break;
-
- case 3:
- if (s3 >= 540)s3 = s3 -20;
- pwm3.pulsewidth_us(s3);
- break;
-
- case 4:
- if (s4 >= 540)s4 = s4 -20;
- pwm4.pulsewidth_us(s4);
- break;
-
- default :
- break;
- }
- }
-
-void servo::left(int a) //Raise the pulsewidth to make the servo turn counter clockwise
- {
- switch (a)
- {
- case 1:
- if (s1 <=2300) s1 = s1 + 20;
- pwm1.pulsewidth_us(s1);
- break;
-
- case 2:
- if (s2 <=2300)s2 =s2 +20;
- pwm2.pulsewidth_us(s2);
- break;
-
- case 3:
- if (s2 <=2300)s3 = s3 +20;
- pwm3.pulsewidth_us(s3);
- break;
-
- case 4:
- if (s2 <=2300)s4 = s4 +20;
- pwm4.pulsewidth_us(s4);
- break;
-
- default :
- break;
- }
- }
-void servo::position(int a, int p) //Position control of the servor, a is the servo and p is the position in degrees
- {
- int pw;
- pw = 500 + (p*10);
- switch (a)
- {
- case 1:
- pwm1.pulsewidth_us(pw);
- break;
-
- case 2:
-
- pwm2.pulsewidth_us(pw);
- break;
-
- case 3:
-
- pwm3.pulsewidth_us(pw);
- break;
-
- case 4:
-
- pwm4.pulsewidth_us(pw);
- break;
-
- default :
- break;
- }
-
- }
--- a/SG90.h Sat Apr 05 07:56:43 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,24 +0,0 @@
-#ifndef SG90_H
-#define SG90_H
-#include "mbed.h"
-#include "PwmOut.h"
-
-class servo {
-
-public:
-
-PwmOut pwm1, pwm2, pwm3, pwm4;
-servo();
-
-
-void init();
-void right(int);
-void left(int);
-void position(int, int);
-
-int s1, s2, s3, s4;
-
-
-
-};
-#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp Thu Mar 28 15:52:51 2019 +0000
@@ -0,0 +1,42 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+and associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#include "../Servo/Servo.h"
+
+Servo::Servo(PinName pin) : _servo(pin)
+{
+ _servo.period_ms(20);
+}
+
+Servo::~Servo(void)
+{
+
+}
+
+void Servo::write(unsigned char degree)
+{
+ convert(degree);
+ _servo.pulsewidth_us(pulse);
+}
+
+void Servo::convert(unsigned char degree)
+{
+ // 0~180 degree correspond to 500~2500
+ pulse = degree * 11 + 500;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h Thu Mar 28 15:52:51 2019 +0000
@@ -0,0 +1,40 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+and associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#ifndef _SERVO_H
+#define _SERVO_H
+
+#include "mbed.h"
+
+class Servo
+{
+public:
+ Servo(PinName pin);
+ ~Servo(void);
+
+ void write(unsigned char degree);
+
+private:
+ void convert(unsigned char degree);
+
+ PwmOut _servo;
+ unsigned int pulse;
+};
+
+#endif
\ No newline at end of file