kings / Mbed 2 deprecated MainMix_20170517

Totale Testversion

Dependencies:   mbed

Fork of DrehungMitStopp by kings

Servo.h@5:24350e6fc9d7, 2017-05-21 (annotated)

Committer:
freunjor
Date:
Sun May 21 15:29:46 2017 +0000
Revision:
5:24350e6fc9d7
Parent:
3:cfb0b6bcf568 
mainmix_1 pro min;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EHess 3:cfb0b6bcf568 1 /* mbed Servo Library without using PWM pins
EHess 3:cfb0b6bcf568 2 * Copyright (c) 2010 Jasper Denkers
EHess 3:cfb0b6bcf568 3 *
EHess 3:cfb0b6bcf568 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
EHess 3:cfb0b6bcf568 5 * of this software and associated documentation files (the "Software"), to deal
EHess 3:cfb0b6bcf568 6 * in the Software without restriction, including without limitation the rights
EHess 3:cfb0b6bcf568 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
EHess 3:cfb0b6bcf568 8 * copies of the Software, and to permit persons to whom the Software is
EHess 3:cfb0b6bcf568 9 * furnished to do so, subject to the following conditions:
EHess 3:cfb0b6bcf568 10 *
EHess 3:cfb0b6bcf568 11 * The above copyright notice and this permission notice shall be included in
EHess 3:cfb0b6bcf568 12 * all copies or substantial portions of the Software.
EHess 3:cfb0b6bcf568 13 *
EHess 3:cfb0b6bcf568 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
EHess 3:cfb0b6bcf568 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
EHess 3:cfb0b6bcf568 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
EHess 3:cfb0b6bcf568 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
EHess 3:cfb0b6bcf568 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
EHess 3:cfb0b6bcf568 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
EHess 3:cfb0b6bcf568 20 * THE SOFTWARE.
EHess 3:cfb0b6bcf568 21 */
EHess 3:cfb0b6bcf568 22
EHess 3:cfb0b6bcf568 23 #ifndef MBED_SERVO_H
EHess 3:cfb0b6bcf568 24 #define MBED_SERVO_H
EHess 3:cfb0b6bcf568 25
EHess 3:cfb0b6bcf568 26 #include "mbed.h"
EHess 3:cfb0b6bcf568 27
EHess 3:cfb0b6bcf568 28 /** Class to control a servo on any pin, without using pwm
EHess 3:cfb0b6bcf568 29 *
EHess 3:cfb0b6bcf568 30 * Example:
EHess 3:cfb0b6bcf568 31 * @code
EHess 3:cfb0b6bcf568 32 * // Keep sweeping servo from left to right
EHess 3:cfb0b6bcf568 33 * #include "mbed.h"
EHess 3:cfb0b6bcf568 34 * #include "Servo.h"
EHess 3:cfb0b6bcf568 35 *
EHess 3:cfb0b6bcf568 36 * Servo Servo1(p20);
EHess 3:cfb0b6bcf568 37 *
EHess 3:cfb0b6bcf568 38 * Servo1.Enable(1500,20000);
EHess 3:cfb0b6bcf568 39 *
EHess 3:cfb0b6bcf568 40 * while(1) {
EHess 3:cfb0b6bcf568 41 * for (int pos = 1000; pos < 2000; pos += 25) {
EHess 3:cfb0b6bcf568 42 * Servo1.SetPosition(pos);
EHess 3:cfb0b6bcf568 43 * wait_ms(20);
EHess 3:cfb0b6bcf568 44 * }
EHess 3:cfb0b6bcf568 45 * for (int pos = 2000; pos > 1000; pos -= 25) {
EHess 3:cfb0b6bcf568 46 * Servo1.SetPosition(pos);
EHess 3:cfb0b6bcf568 47 * wait_ms(20);
EHess 3:cfb0b6bcf568 48 * }
EHess 3:cfb0b6bcf568 49 * }
EHess 3:cfb0b6bcf568 50 * @endcode
EHess 3:cfb0b6bcf568 51 */
EHess 3:cfb0b6bcf568 52
EHess 3:cfb0b6bcf568 53 class Servo {
EHess 3:cfb0b6bcf568 54
EHess 3:cfb0b6bcf568 55 public:
EHess 3:cfb0b6bcf568 56 /** Create a new Servo object on any mbed pin
EHess 3:cfb0b6bcf568 57 *
EHess 3:cfb0b6bcf568 58 * @param Pin Pin on mbed to connect servo to
EHess 3:cfb0b6bcf568 59 */
EHess 3:cfb0b6bcf568 60 Servo(PinName Pin);
EHess 3:cfb0b6bcf568 61
EHess 3:cfb0b6bcf568 62 /** Change the position of the servo. Position in us
EHess 3:cfb0b6bcf568 63 *
EHess 3:cfb0b6bcf568 64 * @param NewPos The new value of the servos position (us)
EHess 3:cfb0b6bcf568 65 */
EHess 3:cfb0b6bcf568 66 void SetPosition(int NewPos);
EHess 3:cfb0b6bcf568 67
EHess 3:cfb0b6bcf568 68 /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
EHess 3:cfb0b6bcf568 69 *
EHess 3:cfb0b6bcf568 70 * @param StartPos The position of the servo to start (us)
EHess 3:cfb0b6bcf568 71 * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
EHess 3:cfb0b6bcf568 72 */
EHess 3:cfb0b6bcf568 73 void Enable(int StartPos, int Period);
EHess 3:cfb0b6bcf568 74
EHess 3:cfb0b6bcf568 75 /** Disable the servo. After disabling the servo won't get any signal anymore
EHess 3:cfb0b6bcf568 76 *
EHess 3:cfb0b6bcf568 77 */
EHess 3:cfb0b6bcf568 78 void Disable();
EHess 3:cfb0b6bcf568 79
EHess 3:cfb0b6bcf568 80 private:
EHess 3:cfb0b6bcf568 81 void StartPulse();
EHess 3:cfb0b6bcf568 82 void EndPulse();
EHess 3:cfb0b6bcf568 83
EHess 3:cfb0b6bcf568 84 int Position;
EHess 3:cfb0b6bcf568 85 DigitalOut ServoPin;
EHess 3:cfb0b6bcf568 86 Ticker Pulse;
EHess 3:cfb0b6bcf568 87 Timeout PulseStop;
EHess 3:cfb0b6bcf568 88 };
EHess 3:cfb0b6bcf568 89
EHess 3:cfb0b6bcf568 90 #endif