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PES2_mbed_os_6
Servo.h
- Committer:
- boro
- Date:
- 2021-03-16
- Revision:
- 3:a292bdaf03f6
- Parent:
- 2:87ca9b0c9992
File content as of revision 3:a292bdaf03f6:
/* mbed Servo Library without using PWM pins * Copyright (c) 2010 Jasper Denkers * * 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" /** Class to control a servo on any pin, without using pwm * * Example: * @code * // Keep sweeping servo from left to right * #include "mbed.h" * #include "Servo.h" * * Servo Servo1(p20); * * Servo1.Enable(1500,20000); * * while(1) { * for (int pos = 1000; pos < 2000; pos += 25) { * Servo1.SetPosition(pos); * wait_ms(20); * } * for (int pos = 2000; pos > 1000; pos -= 25) { * Servo1.SetPosition(pos); * wait_ms(20); * } * } * @endcode */ class Servo { public: /** Create a new Servo object on any mbed pin * * @param Pin Pin on mbed to connect servo to */ Servo(PinName Pin); /** Change the position of the servo. Position in us * * @param NewPos The new value of the servos position (us) */ void SetPosition(int NewPos); /** Enable the servo. Without enabling the servo won't be running. Startposition and period both in us. * * @param StartPos The position of the servo to start (us) * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us) */ void Enable(int StartPos, int Period); /** Disable the servo. After disabling the servo won't get any signal anymore * */ void Disable(); private: void StartPulse(); void EndPulse(); int Position; DigitalOut ServoPin; Ticker Pulse; Timeout PulseStop; }; #endif