A Servo control library that works on any output pin, not just the PWM pins
UniServ.cpp
- Committer:
- bloodline
- Date:
- 2010-10-13
- Revision:
- 0:dde1a0011645
File content as of revision 0:dde1a0011645:
/* UniServ Servo Library * Copyright (c) 2010 Matt Parsons * * 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. */ #include "mbed.h" #include "UniServ.h" UniServ::UniServ(PinName pin) : ServPin(pin){ Period=20000; Position=1500; ServMin=400; ServMax=2600; Pulse.attach_us(this,&UniServ::SigStart,Period); } void UniServ::SigStart(){ ServPin=1; PulseEnd.attach_us(this,&UniServ::SigStop,Position); } void UniServ::SigStop(){ ServPin=0; } void UniServ::write_us(int PosIn){ Position=PosIn; if(PosIn<ServMin){Position=ServMin;} if(PosIn>ServMax){Position=ServMax;} } int UniServ::read_us(){ return Position; }