ServoDriver.hpp

00001 #ifndef SERVODRIVER_HPP
00002 #define SERVODRIVER_HPP
00003  
00004 #include "mbed.h"
00005  
00006 class ServoDriver {
00007 public:
00008     ServoDriver(PinName pwm);
00009     
00010     void endPoints(float lower_endpoint, float upper_endpoint);
00011     void neutralPosition(float input_neutral_position);
00012     void setPosition_deg(float input_position);
00013     
00014     void setPWM(float input_pwm);     // 8/2/2018
00015     
00016     float slope();
00017 
00018     void setMinPWM(float pwm_input);
00019     void setMaxPWM(float pwm_input);
00020     void setCenterPWM(float pwm_input);
00021     void setMinDeg(float deg);
00022     void setMaxDeg(float deg);
00023     
00024     float getSetPosition_deg();
00025     float getSetPosition_pwm();
00026     
00027     void init();
00028     
00029     void pwm_pulse_off();
00030     void pwm_pulse_on();
00031     void pause();
00032     void unpause();
00033     
00034     void runServo();
00035     
00036     float getMinPWM();
00037     float getMaxPWM();
00038     float getCenterPWM();
00039     float getMinDeg();
00040     float getMaxDeg();
00041     
00042 private:
00043     float _min_pwm;
00044     float _max_pwm;
00045     float _center_pwm;
00046     float _min_deg;
00047     float _max_deg;
00048     
00049     volatile bool _paused;
00050     
00051     float _degrees_set_position;
00052     
00053     volatile unsigned int _valid_servo_position_pwm;      //signal in microseconds, for example 1580 microseconds (close to center of servo)
00054     volatile unsigned int _period_cnt;
00055     
00056     Ticker pwm_pulse_on_ticker;
00057     Ticker pwm_pulse_off_ticker;
00058     Timeout pwm_pulse_off_timeout;
00059     
00060     DigitalOut _pwm_out;    //cannot be volatile
00061 };
00062 
00063 template <typename T>
00064 T servoClamp(T value, T min, T max)
00065 {
00066     if(value < min) {
00067         return min;
00068     } else if(value > max) {
00069         return max;
00070     } else {
00071         return value;
00072     }
00073 };
00074 
00075 #endif