A class to control a model R/C servo, using a PwmOut
Servo.h
- Committer:
- b28nguye
- Date:
- 2019-09-27
- Revision:
- 4:22b2abaa0f44
- Parent:
- 3:36b69a7ced07
File content as of revision 4:22b2abaa0f44:
/* mbed R/C Servo Library * Copyright (c) 2007-2010 sford, cstyles * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef MBED_SERVO_H #define MBED_SERVO_H #include "mbed.h" /** Servo control class, based on a PwmOut * * Example: * @code * // Continuously sweep the servo through it's full range * #include "mbed.h" * #include "Servo.h" * * Servo myservo(p21); * * int main() { * while(1) { * for(int i=0; i<100; i++) { * myservo = i/100.0; * wait(0.01); * } * for(int i=100; i>0; i--) { * myservo = i/100.0; * wait(0.01); * } * } * } * @endcode */ class Servo { public: /** Create a servo object connected to the specified PwmOut pin * * @param pin PwmOut pin to connect to */ Servo(PinName pin); /** Set the servo position, normalised to it's full range * * @param percent A normalised number 0.0-1.0 to represent the full range. */ void write(float percent); /** Read the servo motors current position * * @param returns A normalised number 0.0-1.0 representing the full range. */ float read(); /** Set the servo position * * @param degrees Servo position in degrees */ void position(float degrees); /** Allows calibration of the range and angles for a particular servo * * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds * @param degrees Angle from centre to maximum/minimum position in degrees */ void calibrate(float range = 0.0010, float degrees = 90.0); /** Shorthand for the write and read functions */ Servo& operator= (float percent); Servo& operator= (Servo& rhs); operator float(); protected: PwmOut _pwm; float _range; float _degrees; float _p; }; #endif