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Diff: Servo.h
- Revision:
- 0:24148c673250
- Child:
- 2:8995c167f399
diff -r 000000000000 -r 24148c673250 Servo.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.h Mon Nov 16 18:24:16 2009 +0000 @@ -0,0 +1,95 @@ +/* mbed R/C Servo + * Copyright (c) 2007-2009 sford, cstyles + * Released under the MIT License: http://mbed.org/license/mit + */ + +#ifndef MBED_SERVO_H +#define MBED_SERVO_H + +#include "mbed.h" + +/* Class: Servo + * Abstraction on top of PwmOut to control the position of a servo motor + * + * Example: + * > // Continuously sweep the servo through it's full range + * > #include "mbed.h" + * > #include "Servo.h" + * > + * > Servo myservo(p21); + * > + * > int main() { + * > while(1) { + * > for(int i=0; i<100; i++) { + * > myservo = i/100.0; + * > wait(0.01); + * > } + * > for(int i=100; i>0; i--) { + * > myservo = i/100.0; + * > wait(0.01); + * > } + * > } + * > } + */ +class Servo { + +public: + /* Constructor: Servo + * Create a servo object connected to the specified PwmOut pin + * + * Variables: + * pin - PwmOut pin to connect to + */ + Servo(PinName pin); + + /* Function: write + * Set the servo position, normalised to it's full range + * + * Variables: + * percent - A normalised number 0.0-1.0 to represent the full range. + */ + void write(float percent); + + /* Function: read + * Read the servo motors current position + * + * Variables: + * returns - A normalised number 0.0-1.0 representing the full range. + */ + float read(); + + /* Function: position + * Set the servo position + * + * Variables: + * degrees - Servo position in degrees + */ + void position(float degrees); + + /* Function: calibrate + * Allows calibration of the range and angles for a particular servo + * + * + * Variables: + * range - Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds + * degrees - Angle from centre to maximum/minimum position in degrees + */ + void calibrate(float range = 0.0005, float degrees = 45.0); + + /* Function: operator= + * Shorthand for the write and read functions + */ + Servo& operator= (float percent); + Servo& operator= (Servo& rhs); + operator float(); + +protected: + PwmOut _pwm; + float _range; + float _degrees; + float _p; +}; + + + +#endif