A simple library for driving RC servos without using the mbed's PWM functions. This allows the mbed to drive as many servos as there are DigitalOut pins, and additionally allows for the PWM functions to be used at a different frequency than the 50Hz used for servos.
Servo.h@7:ff85ac12e11b, 2012-08-30 (annotated)
- Committer:
- UCSBRobotics
- Date:
- Thu Aug 30 03:36:03 2012 +0000
- Revision:
- 7:ff85ac12e11b
- Parent:
- 3:5357104c16a6
- Child:
- 9:6bfea9af4dcb
Fixed to allow for servos to be created with global scope.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCSBRobotics | 7:ff85ac12e11b | 1 | #ifndef SERVO_H |
UCSBRobotics | 7:ff85ac12e11b | 2 | #define SERVO_H |
UCSBRobotics | 7:ff85ac12e11b | 3 | |
UCSBRobotics | 7:ff85ac12e11b | 4 | #include "mbed.h" |
UCSBRobotics | 7:ff85ac12e11b | 5 | |
UCSBRobotics | 7:ff85ac12e11b | 6 | |
UCSBRobotics | 7:ff85ac12e11b | 7 | |
UCSBRobotics | 7:ff85ac12e11b | 8 | class Servo |
UCSBRobotics | 7:ff85ac12e11b | 9 | { |
UCSBRobotics | 7:ff85ac12e11b | 10 | public: |
UCSBRobotics | 7:ff85ac12e11b | 11 | Servo(PinName pin, unsigned int width = 1500); |
UCSBRobotics | 7:ff85ac12e11b | 12 | void write(int width); |
UCSBRobotics | 7:ff85ac12e11b | 13 | int read(); |
UCSBRobotics | 7:ff85ac12e11b | 14 | void operator=(int width); |
UCSBRobotics | 7:ff85ac12e11b | 15 | operator int(); |
UCSBRobotics | 7:ff85ac12e11b | 16 | |
UCSBRobotics | 7:ff85ac12e11b | 17 | protected: |
UCSBRobotics | 7:ff85ac12e11b | 18 | static unsigned int numServos; |
UCSBRobotics | 7:ff85ac12e11b | 19 | static Servo *servos[]; |
UCSBRobotics | 7:ff85ac12e11b | 20 | static const unsigned int period = 20000; |
UCSBRobotics | 7:ff85ac12e11b | 21 | static Ticker* refreshTicker; |
UCSBRobotics | 7:ff85ac12e11b | 22 | Timeout servoTimeout; |
UCSBRobotics | 7:ff85ac12e11b | 23 | unsigned int pulseWidth; |
UCSBRobotics | 7:ff85ac12e11b | 24 | DigitalOut signalPin; |
UCSBRobotics | 7:ff85ac12e11b | 25 | |
UCSBRobotics | 7:ff85ac12e11b | 26 | static void refresh(); |
UCSBRobotics | 7:ff85ac12e11b | 27 | void timeout(); |
UCSBRobotics | 7:ff85ac12e11b | 28 | }; |
UCSBRobotics | 7:ff85ac12e11b | 29 | |
UCSBRobotics | 2:19f995979c6a | 30 | #endif // SERVO_H |