Cornelius Bezuidenhout / Servo

Library to control servos

Servo.cpp@1:940dffb14ff6, 2017-10-21 (annotated)

Committer:
Cornelius Bezuidenhout
Date:
Sat Oct 21 21:32:00 2017 +0200
Revision:
1:940dffb14ff6
Parent:
0:6c0e56235914
Child:
2:738b08cb03ea
Initial version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Cornelius Bezuidenhout 1:940dffb14ff6 1 #ifndef _SERVO_
Cornelius Bezuidenhout 1:940dffb14ff6 2 #define _SERVO_
Cornelius Bezuidenhout 1:940dffb14ff6 3
Cornelius Bezuidenhout 1:940dffb14ff6 4 #include "mbed.h"
Cornelius Bezuidenhout 1:940dffb14ff6 5
Cornelius Bezuidenhout 1:940dffb14ff6 6 /**
Cornelius Bezuidenhout 1:940dffb14ff6 7 * A Servo controller library :)s
Cornelius Bezuidenhout 1:940dffb14ff6 8 *
Cornelius Bezuidenhout 1:940dffb14ff6 9 * @author CA Bezuidenhout
Cornelius Bezuidenhout 1:940dffb14ff6 10 */
Cornelius Bezuidenhout 1:940dffb14ff6 11 class Servo {
Cornelius Bezuidenhout 1:940dffb14ff6 12 public:
Cornelius Bezuidenhout 1:940dffb14ff6 13 /**
Cornelius Bezuidenhout 1:940dffb14ff6 14 * @param pwmPin : PWM pin of servo / orange wire
Cornelius Bezuidenhout 1:940dffb14ff6 15 * @param zeroAngle : The zero angle of the servo
Cornelius Bezuidenhout 1:940dffb14ff6 16 * @param minAngle : The minimum angle allowed for the servo
Cornelius Bezuidenhout 1:940dffb14ff6 17 * @param maxAngle : The maximum angle allowed for the servo
Cornelius Bezuidenhout 1:940dffb14ff6 18 */
Cornelius Bezuidenhout 1:940dffb14ff6 19 Servo(PinName pwmPin, float zeroAngle = 0, float minAngle = -90.0f, float maxAngle = 90.0f);
Cornelius Bezuidenhout 1:940dffb14ff6 20
Cornelius Bezuidenhout 1:940dffb14ff6 21 /**
Cornelius Bezuidenhout 1:940dffb14ff6 22 * Saves the current position as the zero position.
Cornelius Bezuidenhout 1:940dffb14ff6 23 */
Cornelius Bezuidenhout 1:940dffb14ff6 24 void SaveZero();
Cornelius Bezuidenhout 1:940dffb14ff6 25
Cornelius Bezuidenhout 1:940dffb14ff6 26 /**
Cornelius Bezuidenhout 1:940dffb14ff6 27 * Sets the zero position without moving the servo
Cornelius Bezuidenhout 1:940dffb14ff6 28 *
Cornelius Bezuidenhout 1:940dffb14ff6 29 * @param angle : The angle to set as the zero position
Cornelius Bezuidenhout 1:940dffb14ff6 30 */
Cornelius Bezuidenhout 1:940dffb14ff6 31 void SetZero(float angle);
Cornelius Bezuidenhout 1:940dffb14ff6 32
Cornelius Bezuidenhout 1:940dffb14ff6 33 /**
Cornelius Bezuidenhout 1:940dffb14ff6 34 * Calibrate the servo
Cornelius Bezuidenhout 1:940dffb14ff6 35 * @param actualAngle : The actual angle from zero, of the current position in degrees.
Cornelius Bezuidenhout 1:940dffb14ff6 36 */
Cornelius Bezuidenhout 1:940dffb14ff6 37 void Calibrate(float actualAngle);
Cornelius Bezuidenhout 1:940dffb14ff6 38
Cornelius Bezuidenhout 1:940dffb14ff6 39 /**
Cornelius Bezuidenhout 1:940dffb14ff6 40 * Sets the angular position of the servo
Cornelius Bezuidenhout 1:940dffb14ff6 41 * @param angle : Desired angle from the zero position in degrees
Cornelius Bezuidenhout 1:940dffb14ff6 42 */
Cornelius Bezuidenhout 1:940dffb14ff6 43 void Set(float angle);
Cornelius Bezuidenhout 1:940dffb14ff6 44
Cornelius Bezuidenhout 1:940dffb14ff6 45 /**
Cornelius Bezuidenhout 1:940dffb14ff6 46 * Moves to an relative angular position from the current position
Cornelius Bezuidenhout 1:940dffb14ff6 47 * @param relAngle : The relative angle to move in degrees
Cornelius Bezuidenhout 1:940dffb14ff6 48 */
Cornelius Bezuidenhout 1:940dffb14ff6 49 void Move(float relAngle);
Cornelius Bezuidenhout 1:940dffb14ff6 50
Cornelius Bezuidenhout 1:940dffb14ff6 51 /**
Cornelius Bezuidenhout 1:940dffb14ff6 52 * Disables control signal to servo
Cornelius Bezuidenhout 1:940dffb14ff6 53 */
Cornelius Bezuidenhout 1:940dffb14ff6 54 void Off();
Cornelius Bezuidenhout 1:940dffb14ff6 55
Cornelius Bezuidenhout 1:940dffb14ff6 56 /**
Cornelius Bezuidenhout 1:940dffb14ff6 57 * Gets the current angle of the servo
Cornelius Bezuidenhout 1:940dffb14ff6 58 * @returns Current angle of the servo
Cornelius Bezuidenhout 1:940dffb14ff6 59 */
Cornelius Bezuidenhout 1:940dffb14ff6 60 float GetAngle();
Cornelius Bezuidenhout 1:940dffb14ff6 61
Cornelius Bezuidenhout 1:940dffb14ff6 62 /**
Cornelius Bezuidenhout 1:940dffb14ff6 63 * Sets the minimum angle allowed for the servo
Cornelius Bezuidenhout 1:940dffb14ff6 64 * @params minAngle : minimum angle allowed
Cornelius Bezuidenhout 1:940dffb14ff6 65 */
Cornelius Bezuidenhout 1:940dffb14ff6 66 void SetMin(float minAngle);
Cornelius Bezuidenhout 1:940dffb14ff6 67
Cornelius Bezuidenhout 1:940dffb14ff6 68 /**
Cornelius Bezuidenhout 1:940dffb14ff6 69 * Sets the maximum angle allowed for the servo
Cornelius Bezuidenhout 1:940dffb14ff6 70 * @params maxAngle : maximum angle allowed
Cornelius Bezuidenhout 1:940dffb14ff6 71 */
Cornelius Bezuidenhout 1:940dffb14ff6 72 void SetMax(float maxAngle);
Cornelius Bezuidenhout 1:940dffb14ff6 73
Cornelius Bezuidenhout 1:940dffb14ff6 74 /**
Cornelius Bezuidenhout 1:940dffb14ff6 75 * Sets the servo to minimum position
Cornelius Bezuidenhout 1:940dffb14ff6 76 */
Cornelius Bezuidenhout 1:940dffb14ff6 77 void GotoMin();
Cornelius Bezuidenhout 1:940dffb14ff6 78
Cornelius Bezuidenhout 1:940dffb14ff6 79 /**
Cornelius Bezuidenhout 1:940dffb14ff6 80 * Sets the servo to maximum position
Cornelius Bezuidenhout 1:940dffb14ff6 81 */
Cornelius Bezuidenhout 1:940dffb14ff6 82 void GotoMax();
Cornelius Bezuidenhout 1:940dffb14ff6 83
Cornelius Bezuidenhout 1:940dffb14ff6 84 private:
Cornelius Bezuidenhout 1:940dffb14ff6 85 PwmOut _servo;
Cornelius Bezuidenhout 1:940dffb14ff6 86 float _angle;
Cornelius Bezuidenhout 1:940dffb14ff6 87 float _ref;
Cornelius Bezuidenhout 1:940dffb14ff6 88 float _minAngle;
Cornelius Bezuidenhout 1:940dffb14ff6 89 float _maxAngle;
Cornelius Bezuidenhout 1:940dffb14ff6 90
Cornelius Bezuidenhout 1:940dffb14ff6 91 float PW_PER_DEG;
Cornelius Bezuidenhout 1:940dffb14ff6 92 float ZEROPW;
Cornelius Bezuidenhout 1:940dffb14ff6 93 static const float MIN_PW = 0.0005;
Cornelius Bezuidenhout 1:940dffb14ff6 94 static const float MAX_PW = 0.0025f;
Cornelius Bezuidenhout 1:940dffb14ff6 95
Cornelius Bezuidenhout 1:940dffb14ff6 96 void SetServo();
Cornelius Bezuidenhout 1:940dffb14ff6 97 };
Cornelius Bezuidenhout 1:940dffb14ff6 98 #endif