Revision 0:c4caca30f35a, committed 2010-08-31

Comitter:

Blaze513

Date:

Tue Aug 31 04:37:07 2010 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r c4caca30f35a Servo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,181 @@
+#include "Servo.h"
+
+Servo::Servo(PinName sgnl) : SignalLine(sgnl), Period(0.02),
+    UpperRange(0.045), Center(0.075), LowerRange(-0.045), Position(0)
+{
+    SignalLine.period(0.02);
+        //set period to most common value;
+    SignalLine.write(0.075);
+        //set position to most common center
+}
+
+void Servo::position(float ratio) 
+{
+    Position = ratio;
+    if (ratio > 1)
+    {
+        ratio = 1;
+    }
+    else if (ratio < -1)
+    {
+        ratio = -1;
+    }
+        //saturate position to the range boundaries
+    if (ratio >= 0)
+    {
+        SignalLine.write((ratio * UpperRange) + Center);
+    }
+    else 
+    {
+        SignalLine.write((ratio * LowerRange) + Center);
+    }
+        //set normalized position (-1 to 1)
+}
+
+float Servo::position()
+{
+    float ratio = SignalLine.read() - Center;
+    if (ratio > UpperRange)
+    {
+        ratio = UpperRange;
+    }
+    else if (ratio < LowerRange)
+    {
+        ratio = LowerRange;
+    }
+        //saturate position to the range boundaries
+    if(ratio >= 0)
+    {
+        return ratio / UpperRange;
+    }
+    else 
+    {
+        return ratio / LowerRange;
+    }
+        //return normalized position
+}
+
+void Servo::maximum(float seconds) 
+{
+    UpperRange = (seconds / Period) - Center;
+    position(Position);
+}
+
+void Servo::maximum_ms(int milliseconds) 
+{
+    UpperRange = ((milliseconds / 1000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::maximum_us(int microseconds) 
+{
+    UpperRange = ((microseconds / 1000000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::center(float seconds)
+{
+    Center = seconds / Period;
+    position(Position);
+}
+
+void Servo::center_ms(int milliseconds)
+{
+    Center = (milliseconds / 1000) / Period;
+    position(Position);
+}
+
+void Servo::center_us(int microseconds)
+{
+    Center = (microseconds / 1000000) / Period;
+    position(Position);
+}
+
+void Servo::minimum(float seconds)
+{
+    LowerRange = (seconds / Period) - Center;
+    position(Position);
+}
+
+void Servo::minimum_ms(int milliseconds)
+{
+    LowerRange = ((milliseconds / 1000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::minimum_us(int microseconds)
+{
+    LowerRange = ((microseconds / 1000000) / Period) - Center;
+    position(Position);
+}
+
+void Servo::period(float seconds)
+{
+    Period = seconds;
+    SignalLine.period(seconds);
+}
+
+void Servo::period_ms(int milliseconds)
+{
+    Period = milliseconds / 1000;
+    SignalLine.period_ms(milliseconds);
+}
+
+void Servo::period_us(int microseconds)
+{
+    Period = microseconds / 1000000;
+    SignalLine.period_us(microseconds);
+}
+
+void Servo::pulsewidth(float seconds)
+{
+    Position = (seconds / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth(seconds);
+}
+
+void Servo::pulsewidth_ms(int milliseconds)
+{
+    Position = ((milliseconds / 1000) / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth_ms(milliseconds);
+}
+
+void Servo::pulsewidth_us(int microseconds)
+{
+    Position = ((microseconds / 1000000) / Period) - Center;
+    if (Position >=0)
+    {
+        Position /= UpperRange;
+    }
+    else
+    {
+        Position /= LowerRange * -1;
+    }
+    SignalLine.pulsewidth_us(microseconds);
+}
+
+float Servo::operator =(float assignment)
+{
+    position(assignment);
+    return assignment;
+}
+
+Servo::operator float()
+{
+    return position();
+}
\ No newline at end of file

diff -r 000000000000 -r c4caca30f35a Servo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,48 @@
+#include "stdint.h"
+#include "mbed.h"
+
+class Servo
+{
+    private:
+        PwmOut SignalLine;
+
+        float Period;
+        float UpperRange;
+        float Center;
+        float LowerRange;
+        float Position;
+
+    public:
+        Servo(PinName sgnl);
+            //constructor sets common servo defaults
+        void position(float ratio);
+            //set normalized servo position (-1 to 1), default = 0
+        float position();
+            //get normalized servo position (-1 to 1)
+        void maximum(float seconds);
+        void maximum_ms(int milliseconds);
+        void maximum_us(int microseconds);
+            //set maximum deflection pulse width, default = 2400 us
+        void center(float seconds);
+        void center_ms(int milliseconds);
+        void center_us(int microseconds);
+            //set center deflection pulse width, default = 1500 us
+        void minimum(float seconds);
+        void minimum_ms(int milliseconds);
+        void minimum_us(int microseconds);
+            //set minimum deflection pulse width, default = 600 us
+        void period(float seconds);
+        void period_ms(int milliseconds);
+        void period_us(int microseconds);
+            //set the period, default = 20000 us
+        void pulsewidth(float seconds);
+        void pulsewidth_ms(int milliseconds);
+        void pulsewidth_us(int microseconds);
+            //set the pulse width, default = 1500 us
+        float operator =(float assignment);
+            //shorthand for position setting;
+            //ex: "ServoObj = 0.5;" will set servo deflection to +0.5
+        operator float();
+            //shorthand for position reading;
+            // ex: "float check = ServoObj;" will get the current servo deflection
+};
\ No newline at end of file

diff -r 000000000000 -r c4caca30f35a main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,12 @@
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+
+int main() {
+    while(1) {
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+        wait(0.2);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r c4caca30f35a mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Aug 31 04:37:07 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da