Diff: SteeringServo.h

Revision:

0:5141c5e51f39

Child:

1:88fe796b4c2e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SteeringServo.h	Fri Jun 23 23:36:13 2017 +0000
@@ -0,0 +1,92 @@
+#ifndef SteeringServo_H
+#define SteeringServo_H
+#include "mbed.h"
+
+/** NAME: SteeringServo
+ *  AUTHOR: J.BATCHELAR
+ *
+ * @section LICENSE
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Used with Tower Pro 9g Servo Motors (http://www.micropik.com/PDF/SG90Servo.pdf) to create a steering mechanism. 
+ * 
+ * Example:
+ * @code
+ 
+// -- Code to move steering wheel between extreme limits
+#include "mbed.h"
+#include "SteeringServo.h"
+
+DigitalIn bttn(PC_13);
+DigitalOut led(LED1);
+
+Serial pc(USBTX, USBRX);
+SteeringServo steerMech(PA_10, 1650, 1000, 2300);
+
+int main() {
+    led = 1;
+    pc.printf("\nServo Example\n");
+   
+   while(1){
+        steerMech.goStraight();         //-- Don't call constantly(as you are writing into register need to allow time for value to set)!
+        //-- Wait for button to be pressed
+        while(bttn){};
+        steerMech.goToAngle(1000); //-- Go Left
+        wait(5);
+        steerMech.goToAngle(2300); //-- Go Left
+        wait(5);
+       }
+    }
+
+ * @endcode
+ */
+
+class SteeringServo{
+    public:
+        /** Create a Clamp Servo Object
+        *
+        * @param pin The PWM Pin that the Servo Is Connected To
+        * @param centrePW (us) - Pulse Width to move to drive straight
+        * @param minPW (us) - Minimum pulse width that servo can move to (due to mechanical constraints)
+        * @param maxPW (us) - Maximum pulse width that servo can move to (due to mechanical constraints)
+        */
+        SteeringServo(PinName pin, int centrePW, int minPW, int maxPW); 
+        
+        /** Check if the Clamp is Open
+        * @param pulseWidth (us) - Pulse Width to move rotate to (is internally constrained by limits)
+        */
+        void goToAngle(int pulseWidth); 
+        
+ 
+        /** Goto the centre position. (Drive Straight)
+        *
+        */                     
+        void goStraight(void);        
+     
+    private:
+        PwmOut servo_;               // -- PWM Object  
+        int minimumPulseWidth_;     // -- (us) Minimum pulse width that servo can move to (due to mechanical constraints) 
+        int maximumPulseWidth_;     // -- (us) Maximum pulse width that servo can move to (due to mechanical constraints)
+        int centrePulseWidth_;      // -- (us) Pulse Width to move to drive straight
+        };
+
+#endif