Servo.h

00001 /* mbed Microcontroller Library - Servo
00002  * Copyright (c) 2007-2008, sford
00003  */
00004  
00005 #ifndef MBED_SERVO_H
00006 #define MBED_SERVO_H
00007 
00008 #include "Servo.h"
00009 
00010 #include "mbed.h"
00011 #include "platform.h"
00012 
00013 
00014 namespace mbed {
00015 
00016 /* Class: Servo
00017  *  Abstraction on top of PwmOut to control the position of a servo motor
00018  *
00019  * Example:
00020  * > // Continuously sweep the servo through it's full range
00021  * >
00022  * > #include "mbed.h"
00023  * > #include "Servo.h"
00024  * >
00025  * > Servo myServo (p21);
00026  * > int main() {
00027  * > int i;
00028  * > while (1) {
00029  * >     for (i=0 ; i<100 ; i++){
00030  * >         myServo = i/100.0;
00031  * >         wait (0.01);
00032  * >     }
00033  * >     for (i=100 ; i>0 ; i--){
00034  * >         myServo = i/100.0;
00035  * >         wait (0.01);
00036  * >     }
00037  * >  }
00038  * >}
00039  */
00040 
00041 
00042 class Servo : public Base {
00043 
00044 public:
00045     /* Constructor: Servo
00046      *  Create a servo object connected to the specified PwmOut pin
00047      *
00048      * Variables:
00049      *  pin - PwmOut pin to connect to 
00050      */
00051     Servo(PinName pin, const char* = NULL);
00052     
00053     /* Function: write
00054      *  Set the servo position, normalised to it's full range
00055      *
00056      * Variables:
00057      *  percent - A normalised number 0.0-1.0 to represent the full range.
00058      */
00059     void write(float percent);
00060     /* Function: read
00061      *  Read the servo motors current position
00062      *
00063      * Variables:
00064      *  returns - A normalised number 0.0-1.0  representing the full range.
00065      */
00066     float read();
00067     /* Function: operator=
00068      *  Shorthand for the write and read functions
00069      */
00070     Servo& operator= (float percent);
00071     Servo& operator= (Servo& rhs);
00072     operator float();
00073 
00074 #ifdef MBED_RPC
00075     virtual const struct rpc_method *get_rpc_methods();
00076     static struct rpc_class *get_rpc_class();
00077 #endif
00078 
00079 protected:
00080 
00081     PwmOut _pwm;
00082     float _p;
00083 };
00084 
00085 }
00086 
00087 #endif