Nicolas Borla / Mbed OS PES2_mbed_os

PES2_mbed_os_6

Dependencies:   Servo

Servo.h@3:a292bdaf03f6, 2021-03-16 (annotated)

Committer:
boro
Date:
Tue Mar 16 17:28:04 2021 +0100
Revision:
3:a292bdaf03f6
Parent:
2:87ca9b0c9992 
controller updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 2:87ca9b0c9992 1 /* mbed Servo Library without using PWM pins
boro 2:87ca9b0c9992 2 * Copyright (c) 2010 Jasper Denkers
boro 2:87ca9b0c9992 3 *
boro 2:87ca9b0c9992 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
boro 2:87ca9b0c9992 5 * of this software and associated documentation files (the "Software"), to deal
boro 2:87ca9b0c9992 6 * in the Software without restriction, including without limitation the rights
boro 2:87ca9b0c9992 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
boro 2:87ca9b0c9992 8 * copies of the Software, and to permit persons to whom the Software is
boro 2:87ca9b0c9992 9 * furnished to do so, subject to the following conditions:
boro 2:87ca9b0c9992 10 *
boro 2:87ca9b0c9992 11 * The above copyright notice and this permission notice shall be included in
boro 2:87ca9b0c9992 12 * all copies or substantial portions of the Software.
boro 2:87ca9b0c9992 13 *
boro 2:87ca9b0c9992 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
boro 2:87ca9b0c9992 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
boro 2:87ca9b0c9992 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
boro 2:87ca9b0c9992 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
boro 2:87ca9b0c9992 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
boro 2:87ca9b0c9992 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
boro 2:87ca9b0c9992 20 * THE SOFTWARE.
boro 2:87ca9b0c9992 21 */
boro 2:87ca9b0c9992 22
boro 2:87ca9b0c9992 23 #ifndef MBED_SERVO_H
boro 2:87ca9b0c9992 24 #define MBED_SERVO_H
boro 2:87ca9b0c9992 25
boro 2:87ca9b0c9992 26 #include "mbed.h"
boro 2:87ca9b0c9992 27
boro 2:87ca9b0c9992 28 /** Class to control a servo on any pin, without using pwm
boro 2:87ca9b0c9992 29 *
boro 2:87ca9b0c9992 30 * Example:
boro 2:87ca9b0c9992 31 * @code
boro 2:87ca9b0c9992 32 * // Keep sweeping servo from left to right
boro 2:87ca9b0c9992 33 * #include "mbed.h"
boro 2:87ca9b0c9992 34 * #include "Servo.h"
boro 2:87ca9b0c9992 35 *
boro 2:87ca9b0c9992 36 * Servo Servo1(p20);
boro 2:87ca9b0c9992 37 *
boro 2:87ca9b0c9992 38 * Servo1.Enable(1500,20000);
boro 2:87ca9b0c9992 39 *
boro 2:87ca9b0c9992 40 * while(1) {
boro 2:87ca9b0c9992 41 * for (int pos = 1000; pos < 2000; pos += 25) {
boro 2:87ca9b0c9992 42 * Servo1.SetPosition(pos);
boro 2:87ca9b0c9992 43 * wait_ms(20);
boro 2:87ca9b0c9992 44 * }
boro 2:87ca9b0c9992 45 * for (int pos = 2000; pos > 1000; pos -= 25) {
boro 2:87ca9b0c9992 46 * Servo1.SetPosition(pos);
boro 2:87ca9b0c9992 47 * wait_ms(20);
boro 2:87ca9b0c9992 48 * }
boro 2:87ca9b0c9992 49 * }
boro 2:87ca9b0c9992 50 * @endcode
boro 2:87ca9b0c9992 51 */
boro 2:87ca9b0c9992 52
boro 2:87ca9b0c9992 53 class Servo {
boro 2:87ca9b0c9992 54
boro 2:87ca9b0c9992 55 public:
boro 2:87ca9b0c9992 56 /** Create a new Servo object on any mbed pin
boro 2:87ca9b0c9992 57 *
boro 2:87ca9b0c9992 58 * @param Pin Pin on mbed to connect servo to
boro 2:87ca9b0c9992 59 */
boro 2:87ca9b0c9992 60 Servo(PinName Pin);
boro 2:87ca9b0c9992 61
boro 2:87ca9b0c9992 62 /** Change the position of the servo. Position in us
boro 2:87ca9b0c9992 63 *
boro 2:87ca9b0c9992 64 * @param NewPos The new value of the servos position (us)
boro 2:87ca9b0c9992 65 */
boro 2:87ca9b0c9992 66 void SetPosition(int NewPos);
boro 2:87ca9b0c9992 67
boro 2:87ca9b0c9992 68 /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us.
boro 2:87ca9b0c9992 69 *
boro 2:87ca9b0c9992 70 * @param StartPos The position of the servo to start (us)
boro 2:87ca9b0c9992 71 * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
boro 2:87ca9b0c9992 72 */
boro 2:87ca9b0c9992 73 void Enable(int StartPos, int Period);
boro 2:87ca9b0c9992 74
boro 2:87ca9b0c9992 75 /** Disable the servo. After disabling the servo won't get any signal anymore
boro 2:87ca9b0c9992 76 *
boro 2:87ca9b0c9992 77 */
boro 2:87ca9b0c9992 78 void Disable();
boro 2:87ca9b0c9992 79
boro 2:87ca9b0c9992 80 private:
boro 2:87ca9b0c9992 81 void StartPulse();
boro 2:87ca9b0c9992 82 void EndPulse();
boro 2:87ca9b0c9992 83
boro 2:87ca9b0c9992 84 int Position;
boro 2:87ca9b0c9992 85 DigitalOut ServoPin;
boro 2:87ca9b0c9992 86 Ticker Pulse;
boro 2:87ca9b0c9992 87 Timeout PulseStop;
boro 2:87ca9b0c9992 88 };
boro 2:87ca9b0c9992 89
boro 2:87ca9b0c9992 90 #endif