Jan Kamidra
Servo library based on Timer instead of PWM. Fork of original https://os.mbed.com/users/jdenkers/code/Servo/ and modified for compatibility with MbedOS6+
Servo.h@1:352133517ccc, 2010-10-17 (annotated)
- Committer:
- jdenkers
- Date:
- Sun Oct 17 13:34:19 2010 +0000
- Revision:
- 1:352133517ccc
- Parent:
- 0:30b972d2dcec
- Child:
- 2:2f6d7872d6f3
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jdenkers | 1:352133517ccc | 1 | /* mbed Servo Library without using PWM pins |
| jdenkers | 1:352133517ccc | 2 | * Copyright (c) 2010 Jasper Denkers |
| jdenkers | 1:352133517ccc | 3 | * |
| jdenkers | 1:352133517ccc | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| jdenkers | 1:352133517ccc | 5 | * of this software and associated documentation files (the "Software"), to deal |
| jdenkers | 1:352133517ccc | 6 | * in the Software without restriction, including without limitation the rights |
| jdenkers | 1:352133517ccc | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| jdenkers | 1:352133517ccc | 8 | * copies of the Software, and to permit persons to whom the Software is |
| jdenkers | 1:352133517ccc | 9 | * furnished to do so, subject to the following conditions: |
| jdenkers | 1:352133517ccc | 10 | * |
| jdenkers | 1:352133517ccc | 11 | * The above copyright notice and this permission notice shall be included in |
| jdenkers | 1:352133517ccc | 12 | * all copies or substantial portions of the Software. |
| jdenkers | 1:352133517ccc | 13 | * |
| jdenkers | 1:352133517ccc | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| jdenkers | 1:352133517ccc | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| jdenkers | 1:352133517ccc | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| jdenkers | 1:352133517ccc | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| jdenkers | 1:352133517ccc | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| jdenkers | 1:352133517ccc | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| jdenkers | 1:352133517ccc | 20 | * THE SOFTWARE. |
| jdenkers | 1:352133517ccc | 21 | */ |
| jdenkers | 1:352133517ccc | 22 | |
| jdenkers | 0:30b972d2dcec | 23 | #ifndef MBED_SERVO_H |
| jdenkers | 0:30b972d2dcec | 24 | #define MBED_SERVO_H |
| jdenkers | 0:30b972d2dcec | 25 | |
| jdenkers | 0:30b972d2dcec | 26 | #include "mbed.h" |
| jdenkers | 0:30b972d2dcec | 27 | |
| jdenkers | 1:352133517ccc | 28 | /** Class to control a servo on any pin, without using pwm |
| jdenkers | 1:352133517ccc | 29 | * |
| jdenkers | 1:352133517ccc | 30 | * Example: |
| jdenkers | 1:352133517ccc | 31 | * @code |
| jdenkers | 1:352133517ccc | 32 | * // Keep sweeping servo from left to right |
| jdenkers | 1:352133517ccc | 33 | * #include "mbed.h" |
| jdenkers | 1:352133517ccc | 34 | * #include "Servo.h" |
| jdenkers | 1:352133517ccc | 35 | * |
| jdenkers | 1:352133517ccc | 36 | * Servo Servo1(p20); |
| jdenkers | 1:352133517ccc | 37 | * |
| jdenkers | 1:352133517ccc | 38 | * Servo1.Enable(1500,20000); |
| jdenkers | 1:352133517ccc | 39 | * |
| jdenkers | 1:352133517ccc | 40 | * while(1) { |
| jdenkers | 1:352133517ccc | 41 | * for (int pos = 1000; pos < 2000; pos += 25) { |
| jdenkers | 1:352133517ccc | 42 | * Servo1.SetPosition(pos); |
| jdenkers | 1:352133517ccc | 43 | * wait_ms(20); |
| jdenkers | 1:352133517ccc | 44 | * } |
| jdenkers | 1:352133517ccc | 45 | * for (int pos = 2000; pos > 1000; pos -= 25) { |
| jdenkers | 1:352133517ccc | 46 | * Servo1.SetPosition(pos); |
| jdenkers | 1:352133517ccc | 47 | * wait_ms(20); |
| jdenkers | 1:352133517ccc | 48 | * } |
| jdenkers | 1:352133517ccc | 49 | * } |
| jdenkers | 1:352133517ccc | 50 | * @endcode |
| jdenkers | 1:352133517ccc | 51 | */ |
| jdenkers | 1:352133517ccc | 52 | |
| jdenkers | 0:30b972d2dcec | 53 | class Servo { |
| jdenkers | 1:352133517ccc | 54 | |
| jdenkers | 0:30b972d2dcec | 55 | public: |
| jdenkers | 1:352133517ccc | 56 | /** Create a new Servo object on any mbed pin |
| jdenkers | 1:352133517ccc | 57 | * |
| jdenkers | 1:352133517ccc | 58 | * @param Pin Pin on mbed to connect servo to |
| jdenkers | 1:352133517ccc | 59 | */ |
| jdenkers | 0:30b972d2dcec | 60 | Servo(PinName Pin); |
| jdenkers | 1:352133517ccc | 61 | |
| jdenkers | 1:352133517ccc | 62 | /** Change the position of the servo. Position in us |
| jdenkers | 1:352133517ccc | 63 | * |
| jdenkers | 1:352133517ccc | 64 | * @param NewPos The new value of the servos position (us) |
| jdenkers | 1:352133517ccc | 65 | */ |
| jdenkers | 0:30b972d2dcec | 66 | void SetPosition(int NewPos); |
| jdenkers | 1:352133517ccc | 67 | |
| jdenkers | 1:352133517ccc | 68 | /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. |
| jdenkers | 1:352133517ccc | 69 | * |
| jdenkers | 1:352133517ccc | 70 | * @param StartPos The position of the servo to start (us) |
| jdenkers | 1:352133517ccc | 71 | * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us) |
| jdenkers | 1:352133517ccc | 72 | */ |
| jdenkers | 0:30b972d2dcec | 73 | void Enable(int StartPos, int Period); |
| jdenkers | 1:352133517ccc | 74 | |
| jdenkers | 1:352133517ccc | 75 | /** Disable the servo. After disabling the servo won't get any signal anymore |
| jdenkers | 1:352133517ccc | 76 | * |
| jdenkers | 1:352133517ccc | 77 | */ |
| jdenkers | 0:30b972d2dcec | 78 | void Disable(); |
| jdenkers | 0:30b972d2dcec | 79 | |
| jdenkers | 0:30b972d2dcec | 80 | private: |
| jdenkers | 0:30b972d2dcec | 81 | void StartPulse(); |
| jdenkers | 0:30b972d2dcec | 82 | void EndPulse(); |
| jdenkers | 0:30b972d2dcec | 83 | |
| jdenkers | 0:30b972d2dcec | 84 | int Position; |
| jdenkers | 0:30b972d2dcec | 85 | DigitalOut ServoPin; |
| jdenkers | 0:30b972d2dcec | 86 | Ticker Pulse; |
| jdenkers | 0:30b972d2dcec | 87 | Timeout PulseStop; |
| jdenkers | 0:30b972d2dcec | 88 | }; |
| jdenkers | 0:30b972d2dcec | 89 | |
| jdenkers | 0:30b972d2dcec | 90 | #endif |