Alex Louden
Servo.h@0:76b1b51d98f6, 2009-12-06 (annotated)
- Committer:
- alex89
- Date:
- Sun Dec 06 07:29:17 2009 +0000
- Revision:
- 0:76b1b51d98f6
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| alex89 | 0:76b1b51d98f6 | 1 | /* mbed Microcontroller Library - Servo |
| alex89 | 0:76b1b51d98f6 | 2 | * Copyright (c) 2007-2008, sford |
| alex89 | 0:76b1b51d98f6 | 3 | */ |
| alex89 | 0:76b1b51d98f6 | 4 | |
| alex89 | 0:76b1b51d98f6 | 5 | #ifndef MBED_SERVO_H |
| alex89 | 0:76b1b51d98f6 | 6 | #define MBED_SERVO_H |
| alex89 | 0:76b1b51d98f6 | 7 | |
| alex89 | 0:76b1b51d98f6 | 8 | #include "Servo.h" |
| alex89 | 0:76b1b51d98f6 | 9 | |
| alex89 | 0:76b1b51d98f6 | 10 | #include "mbed.h" |
| alex89 | 0:76b1b51d98f6 | 11 | #include "platform.h" |
| alex89 | 0:76b1b51d98f6 | 12 | |
| alex89 | 0:76b1b51d98f6 | 13 | |
| alex89 | 0:76b1b51d98f6 | 14 | namespace mbed { |
| alex89 | 0:76b1b51d98f6 | 15 | |
| alex89 | 0:76b1b51d98f6 | 16 | /* Class: Servo |
| alex89 | 0:76b1b51d98f6 | 17 | * Abstraction on top of PwmOut to control the position of a servo motor |
| alex89 | 0:76b1b51d98f6 | 18 | * |
| alex89 | 0:76b1b51d98f6 | 19 | * Example: |
| alex89 | 0:76b1b51d98f6 | 20 | * > // Continuously sweep the servo through it's full range |
| alex89 | 0:76b1b51d98f6 | 21 | * > |
| alex89 | 0:76b1b51d98f6 | 22 | * > #include "mbed.h" |
| alex89 | 0:76b1b51d98f6 | 23 | * > #include "Servo.h" |
| alex89 | 0:76b1b51d98f6 | 24 | * > |
| alex89 | 0:76b1b51d98f6 | 25 | * > Servo myServo (p21); |
| alex89 | 0:76b1b51d98f6 | 26 | * > int main() { |
| alex89 | 0:76b1b51d98f6 | 27 | * > int i; |
| alex89 | 0:76b1b51d98f6 | 28 | * > while (1) { |
| alex89 | 0:76b1b51d98f6 | 29 | * > for (i=0 ; i<100 ; i++){ |
| alex89 | 0:76b1b51d98f6 | 30 | * > myServo = i/100.0; |
| alex89 | 0:76b1b51d98f6 | 31 | * > wait (0.01); |
| alex89 | 0:76b1b51d98f6 | 32 | * > } |
| alex89 | 0:76b1b51d98f6 | 33 | * > for (i=100 ; i>0 ; i--){ |
| alex89 | 0:76b1b51d98f6 | 34 | * > myServo = i/100.0; |
| alex89 | 0:76b1b51d98f6 | 35 | * > wait (0.01); |
| alex89 | 0:76b1b51d98f6 | 36 | * > } |
| alex89 | 0:76b1b51d98f6 | 37 | * > } |
| alex89 | 0:76b1b51d98f6 | 38 | * >} |
| alex89 | 0:76b1b51d98f6 | 39 | */ |
| alex89 | 0:76b1b51d98f6 | 40 | |
| alex89 | 0:76b1b51d98f6 | 41 | |
| alex89 | 0:76b1b51d98f6 | 42 | class Servo : public Base { |
| alex89 | 0:76b1b51d98f6 | 43 | |
| alex89 | 0:76b1b51d98f6 | 44 | public: |
| alex89 | 0:76b1b51d98f6 | 45 | /* Constructor: Servo |
| alex89 | 0:76b1b51d98f6 | 46 | * Create a servo object connected to the specified PwmOut pin |
| alex89 | 0:76b1b51d98f6 | 47 | * |
| alex89 | 0:76b1b51d98f6 | 48 | * Variables: |
| alex89 | 0:76b1b51d98f6 | 49 | * pin - PwmOut pin to connect to |
| alex89 | 0:76b1b51d98f6 | 50 | */ |
| alex89 | 0:76b1b51d98f6 | 51 | Servo(PinName pin, const char* = NULL); |
| alex89 | 0:76b1b51d98f6 | 52 | |
| alex89 | 0:76b1b51d98f6 | 53 | /* Function: write |
| alex89 | 0:76b1b51d98f6 | 54 | * Set the servo position, normalised to it's full range |
| alex89 | 0:76b1b51d98f6 | 55 | * |
| alex89 | 0:76b1b51d98f6 | 56 | * Variables: |
| alex89 | 0:76b1b51d98f6 | 57 | * percent - A normalised number 0.0-1.0 to represent the full range. |
| alex89 | 0:76b1b51d98f6 | 58 | */ |
| alex89 | 0:76b1b51d98f6 | 59 | void write(float percent); |
| alex89 | 0:76b1b51d98f6 | 60 | /* Function: read |
| alex89 | 0:76b1b51d98f6 | 61 | * Read the servo motors current position |
| alex89 | 0:76b1b51d98f6 | 62 | * |
| alex89 | 0:76b1b51d98f6 | 63 | * Variables: |
| alex89 | 0:76b1b51d98f6 | 64 | * returns - A normalised number 0.0-1.0 representing the full range. |
| alex89 | 0:76b1b51d98f6 | 65 | */ |
| alex89 | 0:76b1b51d98f6 | 66 | float read(); |
| alex89 | 0:76b1b51d98f6 | 67 | /* Function: operator= |
| alex89 | 0:76b1b51d98f6 | 68 | * Shorthand for the write and read functions |
| alex89 | 0:76b1b51d98f6 | 69 | */ |
| alex89 | 0:76b1b51d98f6 | 70 | Servo& operator= (float percent); |
| alex89 | 0:76b1b51d98f6 | 71 | Servo& operator= (Servo& rhs); |
| alex89 | 0:76b1b51d98f6 | 72 | operator float(); |
| alex89 | 0:76b1b51d98f6 | 73 | |
| alex89 | 0:76b1b51d98f6 | 74 | #ifdef MBED_RPC |
| alex89 | 0:76b1b51d98f6 | 75 | virtual const struct rpc_method *get_rpc_methods(); |
| alex89 | 0:76b1b51d98f6 | 76 | static struct rpc_class *get_rpc_class(); |
| alex89 | 0:76b1b51d98f6 | 77 | #endif |
| alex89 | 0:76b1b51d98f6 | 78 | |
| alex89 | 0:76b1b51d98f6 | 79 | protected: |
| alex89 | 0:76b1b51d98f6 | 80 | |
| alex89 | 0:76b1b51d98f6 | 81 | PwmOut _pwm; |
| alex89 | 0:76b1b51d98f6 | 82 | float _p; |
| alex89 | 0:76b1b51d98f6 | 83 | }; |
| alex89 | 0:76b1b51d98f6 | 84 | |
| alex89 | 0:76b1b51d98f6 | 85 | } |
| alex89 | 0:76b1b51d98f6 | 86 | |
| alex89 | 0:76b1b51d98f6 | 87 | #endif |