Los 3 mosqueteros-freescale / Mbed 2 deprecated Servo

Control de servo

Dependencies:   mbed

Servo.h@0:2b51cc3a1b24, 2015-05-16 (annotated)

Committer:
fonz626
Date:
Sat May 16 21:38:58 2015 +0000
Revision:
0:2b51cc3a1b24
Servo control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fonz626 0:2b51cc3a1b24 1 /* mbed R/C Servo Library
fonz626 0:2b51cc3a1b24 2 * Copyright (c) 2007-2010 sford, cstyles
fonz626 0:2b51cc3a1b24 3 *
fonz626 0:2b51cc3a1b24 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
fonz626 0:2b51cc3a1b24 5 * of this software and associated documentation files (the "Software"), to deal
fonz626 0:2b51cc3a1b24 6 * in the Software without restriction, including without limitation the rights
fonz626 0:2b51cc3a1b24 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
fonz626 0:2b51cc3a1b24 8 * copies of the Software, and to permit persons to whom the Software is
fonz626 0:2b51cc3a1b24 9 * furnished to do so, subject to the following conditions:
fonz626 0:2b51cc3a1b24 10 *
fonz626 0:2b51cc3a1b24 11 * The above copyright notice and this permission notice shall be included in
fonz626 0:2b51cc3a1b24 12 * all copies or substantial portions of the Software.
fonz626 0:2b51cc3a1b24 13 *
fonz626 0:2b51cc3a1b24 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
fonz626 0:2b51cc3a1b24 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
fonz626 0:2b51cc3a1b24 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
fonz626 0:2b51cc3a1b24 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
fonz626 0:2b51cc3a1b24 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
fonz626 0:2b51cc3a1b24 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
fonz626 0:2b51cc3a1b24 20 * THE SOFTWARE.
fonz626 0:2b51cc3a1b24 21 */
fonz626 0:2b51cc3a1b24 22
fonz626 0:2b51cc3a1b24 23 #ifndef MBED_SERVO_H
fonz626 0:2b51cc3a1b24 24 #define MBED_SERVO_H
fonz626 0:2b51cc3a1b24 25
fonz626 0:2b51cc3a1b24 26 #include "mbed.h"
fonz626 0:2b51cc3a1b24 27
fonz626 0:2b51cc3a1b24 28 /** Servo control class, based on a PwmOut
fonz626 0:2b51cc3a1b24 29 *
fonz626 0:2b51cc3a1b24 30 * Example:
fonz626 0:2b51cc3a1b24 31 * @code
fonz626 0:2b51cc3a1b24 32 * // Continuously sweep the servo through it's full range
fonz626 0:2b51cc3a1b24 33 * #include "mbed.h"
fonz626 0:2b51cc3a1b24 34 * #include "Servo.h"
fonz626 0:2b51cc3a1b24 35 *
fonz626 0:2b51cc3a1b24 36 * Servo myservo(p21);
fonz626 0:2b51cc3a1b24 37 *
fonz626 0:2b51cc3a1b24 38 * int main() {
fonz626 0:2b51cc3a1b24 39 * while(1) {
fonz626 0:2b51cc3a1b24 40 * for(int i=0; i<100; i++) {
fonz626 0:2b51cc3a1b24 41 * myservo = i/100.0;
fonz626 0:2b51cc3a1b24 42 * wait(0.01);
fonz626 0:2b51cc3a1b24 43 * }
fonz626 0:2b51cc3a1b24 44 * for(int i=100; i>0; i--) {
fonz626 0:2b51cc3a1b24 45 * myservo = i/100.0;
fonz626 0:2b51cc3a1b24 46 * wait(0.01);
fonz626 0:2b51cc3a1b24 47 * }
fonz626 0:2b51cc3a1b24 48 * }
fonz626 0:2b51cc3a1b24 49 * }
fonz626 0:2b51cc3a1b24 50 * @endcode
fonz626 0:2b51cc3a1b24 51 */
fonz626 0:2b51cc3a1b24 52 class Servo {
fonz626 0:2b51cc3a1b24 53
fonz626 0:2b51cc3a1b24 54 public:
fonz626 0:2b51cc3a1b24 55 /** Create a servo object connected to the specified PwmOut pin
fonz626 0:2b51cc3a1b24 56 *
fonz626 0:2b51cc3a1b24 57 * @param pin PwmOut pin to connect to
fonz626 0:2b51cc3a1b24 58 */
fonz626 0:2b51cc3a1b24 59 Servo(PinName pin);
fonz626 0:2b51cc3a1b24 60
fonz626 0:2b51cc3a1b24 61 /** Set the servo position, normalised to it's full range
fonz626 0:2b51cc3a1b24 62 *
fonz626 0:2b51cc3a1b24 63 * @param percent A normalised number 0.0-1.0 to represent the full range.
fonz626 0:2b51cc3a1b24 64 */
fonz626 0:2b51cc3a1b24 65 void write(float percent);
fonz626 0:2b51cc3a1b24 66
fonz626 0:2b51cc3a1b24 67 /** Read the servo motors current position
fonz626 0:2b51cc3a1b24 68 *
fonz626 0:2b51cc3a1b24 69 * @param returns A normalised number 0.0-1.0 representing the full range.
fonz626 0:2b51cc3a1b24 70 */
fonz626 0:2b51cc3a1b24 71 float read();
fonz626 0:2b51cc3a1b24 72
fonz626 0:2b51cc3a1b24 73 /** Set the servo position
fonz626 0:2b51cc3a1b24 74 *
fonz626 0:2b51cc3a1b24 75 * @param degrees Servo position in degrees
fonz626 0:2b51cc3a1b24 76 */
fonz626 0:2b51cc3a1b24 77 void position(float degrees);
fonz626 0:2b51cc3a1b24 78
fonz626 0:2b51cc3a1b24 79 /** Allows calibration of the range and angles for a particular servo
fonz626 0:2b51cc3a1b24 80 *
fonz626 0:2b51cc3a1b24 81 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
fonz626 0:2b51cc3a1b24 82 * @param degrees Angle from centre to maximum/minimum position in degrees
fonz626 0:2b51cc3a1b24 83 */
fonz626 0:2b51cc3a1b24 84 void calibrate(float range = 0.0005, float degrees = 45.0);
fonz626 0:2b51cc3a1b24 85
fonz626 0:2b51cc3a1b24 86 /** Shorthand for the write and read functions */
fonz626 0:2b51cc3a1b24 87 Servo& operator= (float percent);
fonz626 0:2b51cc3a1b24 88 Servo& operator= (Servo& rhs);
fonz626 0:2b51cc3a1b24 89 operator float();
fonz626 0:2b51cc3a1b24 90
fonz626 0:2b51cc3a1b24 91 protected:
fonz626 0:2b51cc3a1b24 92 PwmOut _pwm;
fonz626 0:2b51cc3a1b24 93 float _range;
fonz626 0:2b51cc3a1b24 94 float _degrees;
fonz626 0:2b51cc3a1b24 95 float _p;
fonz626 0:2b51cc3a1b24 96 };
fonz626 0:2b51cc3a1b24 97
fonz626 0:2b51cc3a1b24 98 #endif