MS9g_move_sin.h

00001 /*This is simple library for sinusoidal movement of servo 9g. For now it work with 1 Hz frequency only. Lib include 3 classes:
00002     *Servo_9g
00003         -for receiver: it define the Pin to which servo connected 
00004         -for transmiter: empty class
00005     *Servo_9g_Move
00006         -for one-plate interface: it maintain calculating of sine and movement of servo simultaneously
00007     *Servo_9g_CAN
00008         -for receiver: you need define Pin for servo and two pins for CAN-bus, and you may define the friquency of CAN-bus
00009         -for transmiter: you need define two pins for CAN-bus, and you may define the friquency of CAN-bus
00010 Rus Uryadinsky prod*/
00011 #include "mbed.h"
00012 #define val 0.05 // percents in step / 100
00013 #define pi 3.141592653589793115997963468544185161590576171875
00014 #define speed_inc 0.20
00015 
00016 class Servo_9g{
00017     public:
00018     Servo_9g();
00019     Servo_9g(PinName Pin);
00020     ~Servo_9g();
00021     
00022     protected:  
00023     PwmOut *Servo;
00024 };
00025 
00026 
00027 class Servo_9g_Move: public Servo_9g{
00028     public:
00029     Servo_9g_Move();
00030     Servo_9g_Move(PinName Pin);
00031     ~Servo_9g_Move();
00032     
00033     //set the sin and move the servo
00034     void StartMoveSin();
00035     
00036     protected:
00037     double f;
00038     Ticker timer;
00039     void Move(float f); //make move for your alg
00040     void NextSin(); //get next value of the sine
00041     
00042     private: //functions
00043     void CalCnMove();
00044     
00045     private: //variables
00046     double i; //f- func, i- count
00047 };
00048 
00049 
00050 class Servo_9g_CAN:public Servo_9g_Move{
00051     public:
00052     
00053     //constructors for transmiter
00054     Servo_9g_CAN(PinName rd, PinName td);
00055     Servo_9g_CAN(PinName rd, PinName td, int hz);
00056     
00057     //constructors for receiver
00058     Servo_9g_CAN(PinName servo_pwm, PinName rd, PinName td);
00059     Servo_9g_CAN(PinName servo_pwm, PinName rd, PinName td, int hz);
00060     ~Servo_9g_CAN();
00061     
00062     //for transmitting sine signal 1 Hz
00063     void SendSin();
00064     
00065     //send position to the Sub
00066     void sendPosition(char id, float pos);
00067     
00068     //for receiving of signal and movement of servo
00069     //1- complite, 0- error
00070     bool ReceiveServo();
00071      
00072     private: //functions
00073     void SendNextSin();
00074     
00075     private: //variables
00076     CAN can;
00077     CANMessage msg;
00078     
00079 };