Servo.h

00001 /* mbed simple Servo controller
00002  * Copyright (c) 2019, marcel.bernet@ch-open.ch
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef ACTORS_SERVOS_LIB_SERVO_H_
00024 #define ACTORS_SERVOS_LIB_SERVO_H_
00025 
00026 #define SERVO_MIN          750
00027 #define SERVO_MAX         2500
00028 
00029 /** Servo control class, based on a PwmOut
00030  *
00031  * Example:
00032  * @code
00033  * // Continuously sweep the servo through it's full range
00034  * #include "mbed.h"
00035  * #include "Servo.h"
00036  *
00037  * Servo myservo(D6);
00038  *
00039  * int main() {
00040  *     while(1) {
00041  *         for(int i=0; i<100; i++) {
00042  *             myservo = i/100.0;
00043  *             wait(0.01);
00044  *         }
00045  *         for(int i=100; i>0; i--) {
00046  *             myservo = i/100.0;
00047  *             wait(0.01);
00048  *         }
00049  *     }
00050  * }
00051  * @endcode
00052  */
00053 class Servo
00054 {
00055 public:
00056     /** Create a servo object connected to the specified PwmOut pin
00057      *
00058      * @param pin PwmOut pin to connect to
00059      */
00060     Servo(PinName pin);
00061 
00062     /** Set the servo position, normalised to it's full range
00063      *
00064      * @param percent A normalised number 0.0-1.0 to represent the full range.
00065      */
00066     void write(float percent);
00067 
00068     /**  Read the servo motors current position
00069      *
00070      * @param returns A normalised number 0.0-1.0  representing the full range.
00071      */
00072     float read();
00073 
00074     /**  Shorthand for the write and read functions */
00075     Servo& operator= (float percent);
00076     Servo& operator= (Servo& rhs);
00077     operator float();
00078 
00079 protected:
00080     PwmOut _pwm;
00081     float _p;
00082 };
00083 
00084 #endif /* ACTORS_SERVOS_LIB_SERVO_H_ */