Diff: TLC5940Servo.h

Revision:

2:1d2251574d35

Parent:

0:9fc434ff7a03

Child:

3:3b04a122e508

--- a/TLC5940Servo.h	Tue Oct 21 02:32:57 2014 +0000
+++ b/TLC5940Servo.h	Tue Oct 21 06:04:24 2014 +0000
@@ -2,7 +2,7 @@
 #define TLC5940Servo_H
 
 #include "FastPWM.h"
- 
+
 /**
   * SPI speed used by the mbed to communicate with the TLC5940
   * The TLC5940 supports up to 30Mhz. This should be kept as high
@@ -14,65 +14,81 @@
   * The rate at which the GSCLK pin is pulsed
   * This also controls how often the reset function is called
   * The rate at which the reset function is called can be calculated by: (1/GSCLK_SPEED) * 4096
-  * 
-  * Since the Servo period is 20ms (50Hz), we set this clock to 50*4096 = 204,800Hz according to the eqn above
-  * Also, since this clock is so slow, there is no real limit to the number of TLC5940s you can chain
+  *
+  * Since the Servo period is 20ms (50Hz), we set this clock to 50*4096 = 204,800Hz according to the equation above
+  * Also, since this clock is so slow, there is almost no limit to the number of TLC5940s you can chain
   */
 #define GSCLK_SPEED 204800
 
 /**
-  *  This class controls a TLC5940 PWM driver to control Servo motors.
-  *  It supports sending grayscale PWM data calibrated for Servos, but it does not support error checking or writing the EEPROM.
-  *  This class uses the FastPWM library by Erik Olieman to continuously pulse the GSLCK pin without CPU intervention. After
-  *  4096 pulses, the private member funciton reset is called by the ticker. It resets the display by pulsing the BLANK pin. If new
-  *  data has been set to be sent by the function setNewData, it is sent here.
+  *  This class controls a TLC5940 PWM driver to control Servo motors. It supports sending grayscale PWM data calibrated for Servos,
+  *  but it does not support error checking or writing the EEPROM. After 4096 pulses, the private member funciton reset is called by
+  *  the ticker. It resets the driver by pulsing the BLANK pin. If new data has been set to be sent by the function setNewData, it
+  *  is sent here.
+  *  
+  *  This class is a heavily modified versoin of the TLC5940 library created by Spencer Davis. This class also uses the FastPWM
+  *  library by Erik Olieman to continuously pulse the GSLCK pin without CPU intervention. 
   */
-class TLC5940Servo
-{
+class TLC5940Servo {
 public:
+    /* 
+     * Servo inner class to abstract some of the details. Based off of the mbed official Servo class
+     */
+    class Servo {
+    public:
+        Servo();
+        void write(float percent);
+        void calibrate(float range=0.0005, float degrees=45.0);
+        float read();
+        int pulsewidth();
+        Servo& operator= (float percent);
+        operator float();
+    private:
+        float _p;
+        float _range;
+        float _degrees;
+        int _pw;
+    };
     /**
-      *  Set up the TLC5940
-      * 
-      *  @param MOSI - The MOSI pin of the SPI bus
-      *  @param SCLK - The SCK pin of the SPI bus
-      *  @param XLAT - The XLAT pin of the TLC5940(s)
-      *  @param BLANK - The BLANK pin of the TLC5940(s)
-      *  @param GSCLK - The GSCLK pin of the TLC5940(s)
-      *  @param number - The number of TLC5940s (optional)
+      * Set up the TLC5940
+      *
+      * @param MOSI - The MOSI pin of the SPI bus
+      * @param SCLK - The SCK pin of the SPI bus
+      * @param XLAT - The XLAT pin of the TLC5940(s)
+      * @param BLANK - The BLANK pin of the TLC5940(s)
+      * @param GSCLK - The GSCLK pin of the TLC5940(s)
+      * @param number - The number of TLC5940s (optional)
       */
     TLC5940Servo(PinName MOSI, PinName SCLK, PinName XLAT, PinName BLANK,
-            PinName GSCLK, const int number = 1);
-    
-    // Destructor used to delete memory
+                 PinName GSCLK, const int number = 1);
+
+    /**
+     * Destructor used to delete memory
+     */
     ~TLC5940Servo();
 
-    /**  Allows calibration of the range and angles for all servos
-     *
-     * @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, float degrees); 
-    
-    /**  Allows calibration of the range and angles for a particular servo
+    /**
+     * 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(int index, float range, float degrees);
-    
-    /**  Allows calibration of the range and angles for a particular servo
+
+    /**
+     * Allows calibration of the range and angles for all servos
      *
      * @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, float *degrees);  
-    
+    void calibrate(float range, float degrees);
+
     /**
-      *  Set the next chunk of grayscale data to be sent
-      *  @param data - Array of 16 bit shorts containing 16 12 bit grayscale data chunks per TLC5940
-      *  @note These must be in intervals of at least (1/GSCLK_SPEED) * 4096 to be sent
+      * Array index operator for reading and writing from servos
+      *
+      * @param index Index of Servo in array
       */
-    int& operator[](int index);
+    Servo& operator[](int index);
 
 private:
     // SPI port - only MOSI and SCK are used
@@ -98,7 +114,7 @@
     volatile bool need_xlat;
 
     // Buffers to store data until it is sent
-    int* dataBuffer;
+    Servo* dataBuffer;
 
     // Function to reset the display and send the next chunks of data
     void reset();