Diff: Servo.h

Revision:

0:88fd1c2402c9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Thu Jun 13 17:54:36 2013 +0000
@@ -0,0 +1,147 @@
+/* mbed R/C Servo Library
+ *
+ * Copyright (c) 2013 Fabio Durigon
+ *
+ * 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"
+
+/** Library to control a Servo via pwm pin*/
+class Servo{
+    public:
+        /** Create a Servo object
+        *
+        * @param Pin Pwm output pin
+        */
+        Servo(PinName Pin);
+        
+        /** Set servo position in range from 0.0 to 1.0
+        *
+        * @param range ablosute position from 0.0 to 1.0
+        * 0.0 Full left position
+        * 0.5 Centre position
+        * 1.0 Full right position
+        *
+        * @return normalized position
+        */
+        float Write(float Pos);
+        //! write() version for compatibility with Simon Ford's Servo Library
+        float write(float Pos);
+        
+        /** Set servo position in Degrees where 0 is the centre position
+        * @param Degrees Degrees inside the "Degrees Range"
+        *
+        * @return normalized Degrees
+        *
+        * @code
+        * servo.WriteDegrees(-45); 
+        * @endcode
+        */
+        float WriteDegrees(float Degrees);
+        
+        /** Set the pulsewidth in secs and measured degrees for this servo to reach the minimum position (max escursion to the left)
+        *
+        * @param PulseSec Pulsewitdh in sec
+        * @param Degrees Degrees associated to pulsewidth
+        */
+        void DefinePulseMin(float PulseSec, float Degrees);
+        
+        /** Set the pulsewidth in secs and measured degrees for this servo to reach the maximum position (max escursion to the right)
+        *
+        * @param PulseSec Pulsewitdh in sec
+        * @param Degrees Degrees associated to pulsewidth
+        */
+        void DefinePulseMax(float PulseSec, float Degrees);
+        
+        /** Set total range in secs for the entire excursion(from pulsemin to pulsemax) associated to degrees excursion.
+        *   Central position of servo is PulseSec/2 or Degrres/2.
+        *
+        * @param TotPulseSec Pulsewitdh in sec from min position to max position
+        * @param Degrees Total Degrees associated to TotPulseSec
+        */
+        void DefinePulseTotal(float TotPulseSec, float TotDegrees);
+        
+        /** Read current position
+        *
+        * @return Current position within range from 0.0 to 1.0
+        */
+        float Read(void);
+        //! read() version for compatibility with Simon Ford's Servo Library
+        float read(void);
+        
+        /** Read current position in BYTE number
+        *
+        * @return Current position within range from 0 to 255
+        */
+        unsigned char ReadByte(void);
+        
+        /** Read current Degrees
+        *
+        * @return Current position in Degrees within range of Degrees
+        */
+        float ReadDegrees(void);
+        
+        /** Read the current pulsemin
+        *
+        * @return Current pulsewith for min position
+        */
+        float ReadPulseMin(void);
+        
+        /** Read the current pulsemax
+        *
+        * @return Current pulsewith for max position
+        */
+        float ReadPulseMax(void);
+        
+        /** Read current degreemin
+        *
+        * @return Current Degrees associated to current pulsemin
+        */
+        float ReadDegreesMin(void);
+        
+        /** Read current degreemax
+        *
+        * @return Current Degrees associated to current pulsemax
+        */
+        float ReadDegreesMax(void);
+        
+        /**  Shorthand for the write and read functions */
+        Servo& operator= (float range);
+        Servo& operator= (Servo& rhs);
+        operator float();
+        
+        void PrintValues(void);
+        
+        private:
+            PwmOut pwmout;
+            float currpos;
+            float currdegrees;
+            float pulsemin;
+            float pulsemax;
+            float pulserange;
+            float degreesmin;
+            float degreesmax;
+            float degreesrange;
+            float degreeshrange;
+};
+#endif
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