Torsten Dillenburg / Mbed 2 deprecated pololu_class

Class to use a Pololu Micro Serial Servo Controler

Dependencies:   mbed

main.cpp@1:5d0bc0302099, 2010-11-03 (annotated)

Committer:
Torsten
Date:
Wed Nov 03 13:08:37 2010 +0000
Revision:
1:5d0bc0302099
Parent:
0:e0c4e4123bdc 
minor modifacation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Torsten 0:e0c4e4123bdc 1 /*
Torsten 0:e0c4e4123bdc 2 Pololu Servo integration
Torsten 0:e0c4e4123bdc 3 Integration of a Pololu Micro Servo Controler for 8 Servo's
Torsten 0:e0c4e4123bdc 4 http://www.pololu.com/catalog/product/208
Torsten 0:e0c4e4123bdc 5 Guide: http://www.pololu.com/file/0J37/ssc03a_guide.pdf
Torsten 0:e0c4e4123bdc 6 */
Torsten 0:e0c4e4123bdc 7
Torsten 0:e0c4e4123bdc 8 #include "mbed.h"
Torsten 0:e0c4e4123bdc 9
Torsten 0:e0c4e4123bdc 10 //-- Header -----------------------------------------------------------
Torsten 0:e0c4e4123bdc 11 class pololu_mssc {
Torsten 0:e0c4e4123bdc 12 public:
Torsten 0:e0c4e4123bdc 13 pololu_mssc(PinName ptx, PinName prx, PinName rst); // Constructor
Torsten 1:5d0bc0302099 14 void move(char p_servo, char p_angle); // Move Servo(0..7) to Angle (value between 0 and 5500)
Torsten 0:e0c4e4123bdc 15 void reset(void); // Reset Controler
Torsten 0:e0c4e4123bdc 16
Torsten 0:e0c4e4123bdc 17 private:
Torsten 0:e0c4e4123bdc 18 DigitalOut _rst;
Torsten 0:e0c4e4123bdc 19 Serial* _mssc;
Torsten 0:e0c4e4123bdc 20
Torsten 0:e0c4e4123bdc 21 };
Torsten 0:e0c4e4123bdc 22
Torsten 0:e0c4e4123bdc 23 //-- Def ---------------------------------------------------------------
Torsten 0:e0c4e4123bdc 24 pololu_mssc::pololu_mssc(PinName p_tx, PinName p_rx, PinName p_rst) : _rst(p_rst)
Torsten 0:e0c4e4123bdc 25 { //Constructor
Torsten 0:e0c4e4123bdc 26 _mssc = new Serial( p_tx, p_rx); // create a new serial connetion
Torsten 0:e0c4e4123bdc 27 reset();
Torsten 0:e0c4e4123bdc 28 }
Torsten 0:e0c4e4123bdc 29
Torsten 1:5d0bc0302099 30 void pololu_mssc::move(char p_servo, char p_angle)
Torsten 0:e0c4e4123bdc 31 {
Torsten 0:e0c4e4123bdc 32 char pos_hi,pos_low;
Torsten 0:e0c4e4123bdc 33 int temp;
Torsten 0:e0c4e4123bdc 34
Torsten 0:e0c4e4123bdc 35
Torsten 0:e0c4e4123bdc 36 //Convert the angle data into two 7-bit bytes
Torsten 0:e0c4e4123bdc 37 temp = p_angle & 0x1f80;
Torsten 0:e0c4e4123bdc 38 pos_hi = temp >> 7;
Torsten 0:e0c4e4123bdc 39 pos_low= p_angle & 0x7f;
Torsten 0:e0c4e4123bdc 40
Torsten 0:e0c4e4123bdc 41 //Construct and send a Pololu Protocol command sentence
Torsten 0:e0c4e4123bdc 42 _mssc -> putc(0x80); //start byte
Torsten 0:e0c4e4123bdc 43 _mssc -> putc(0x01); //device id
Torsten 0:e0c4e4123bdc 44 _mssc -> putc(0x04); //command number
Torsten 0:e0c4e4123bdc 45 _mssc -> putc(p_servo); //servo number
Torsten 0:e0c4e4123bdc 46 _mssc -> putc(pos_hi); //angle data1
Torsten 0:e0c4e4123bdc 47 _mssc -> putc(pos_low); //angle data2
Torsten 0:e0c4e4123bdc 48 }
Torsten 0:e0c4e4123bdc 49
Torsten 0:e0c4e4123bdc 50 void pololu_mssc::reset(void)
Torsten 0:e0c4e4123bdc 51 {
Torsten 0:e0c4e4123bdc 52 _rst =1;
Torsten 0:e0c4e4123bdc 53 wait(0.1);
Torsten 0:e0c4e4123bdc 54 _rst =0;
Torsten 0:e0c4e4123bdc 55 wait(0.1);
Torsten 0:e0c4e4123bdc 56 }
Torsten 0:e0c4e4123bdc 57
Torsten 0:e0c4e4123bdc 58 // End ClassDef
Torsten 0:e0c4e4123bdc 59
Torsten 0:e0c4e4123bdc 60 pololu_mssc servo_control(p9,p10,p8);
Torsten 0:e0c4e4123bdc 61 DigitalOut myled(LED1);
Torsten 0:e0c4e4123bdc 62 DigitalOut myled2(LED2);
Torsten 0:e0c4e4123bdc 63
Torsten 0:e0c4e4123bdc 64 //---- Main ----------------------------------------------------------------------
Torsten 0:e0c4e4123bdc 65 int main() {
Torsten 0:e0c4e4123bdc 66 myled = 1;
Torsten 1:5d0bc0302099 67 servo_control.move(1,1000);
Torsten 0:e0c4e4123bdc 68 wait(1);
Torsten 1:5d0bc0302099 69 servo_control.move(1,4000);
Torsten 0:e0c4e4123bdc 70 wait(1);
Torsten 1:5d0bc0302099 71 servo_control.move(1,1000);
Torsten 0:e0c4e4123bdc 72 wait(1);
Torsten 0:e0c4e4123bdc 73 myled2 = 1;
Torsten 0:e0c4e4123bdc 74 }
Torsten 0:e0c4e4123bdc 75
Torsten 0:e0c4e4123bdc 76